namespace Diversity.Robotics.Navigation.GridSlamApp
{
    partial class Form1
    {
        /// <summary>
        /// Required designer variable.
        /// </summary>
        private System.ComponentModel.IContainer components = null;

        /// <summary>
        /// Clean up any resources being used.
        /// </summary>
        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
        protected override void Dispose(bool disposing)
        {
            if (disposing && (components != null))
            {
                components.Dispose();
            }
            base.Dispose(disposing);
        }

        #region Windows Form Designer generated code

        /// <summary>
        /// Required method for Designer support - do not modify
        /// the contents of this method with the code editor.
        /// </summary>
        private void InitializeComponent()
        {
            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form1));
            this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
            this.menuStrip1 = new System.Windows.Forms.MenuStrip();
            this.fileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.openMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.openLogFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.quitToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.helpToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.aboutToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.tabNavigation = new System.Windows.Forms.TabPage();
            this.label106 = new System.Windows.Forms.Label();
            this.label107 = new System.Windows.Forms.Label();
            this.label105 = new System.Windows.Forms.Label();
            this.groupBox21 = new System.Windows.Forms.GroupBox();
            this.buttonVFHSave = new System.Windows.Forms.Button();
            this.labelVFHSegments = new System.Windows.Forms.Label();
            this.textBoxVFHValleyThreashold = new System.Windows.Forms.TextBox();
            this.label103 = new System.Windows.Forms.Label();
            this.textBoxVFHLargeValley = new System.Windows.Forms.TextBox();
            this.label102 = new System.Windows.Forms.Label();
            this.textBoxVFHRange = new System.Windows.Forms.TextBox();
            this.label97 = new System.Windows.Forms.Label();
            this.textBoxVFHNumSegments = new System.Windows.Forms.TextBox();
            this.label96 = new System.Windows.Forms.Label();
            this.textBoxVFHTruncateAt = new System.Windows.Forms.TextBox();
            this.label98 = new System.Windows.Forms.Label();
            this.textBoxVFHSmoothingRange = new System.Windows.Forms.TextBox();
            this.buttonCreateVFH = new System.Windows.Forms.Button();
            this.label101 = new System.Windows.Forms.Label();
            this.label104 = new System.Windows.Forms.Label();
            this.label100 = new System.Windows.Forms.Label();
            this.label99 = new System.Windows.Forms.Label();
            this.pictureBoxVFHResults = new System.Windows.Forms.PictureBox();
            this.pictureBoxVFHSmooth = new System.Windows.Forms.PictureBox();
            this.pictureBoxVFH = new System.Windows.Forms.PictureBox();
            this.labelVFH = new System.Windows.Forms.Label();
            this.tabConeModel2 = new System.Windows.Forms.TabPage();
            this.label92 = new System.Windows.Forms.Label();
            this.label91 = new System.Windows.Forms.Label();
            this.label90 = new System.Windows.Forms.Label();
            this.groupBox20 = new System.Windows.Forms.GroupBox();
            this.textBoxConeModel4DTestX = new System.Windows.Forms.TextBox();
            this.label83 = new System.Windows.Forms.Label();
            this.label84 = new System.Windows.Forms.Label();
            this.textBoxConeModel4DTestRange = new System.Windows.Forms.TextBox();
            this.label85 = new System.Windows.Forms.Label();
            this.buttonConeModel4DTestHit = new System.Windows.Forms.Button();
            this.textBoxConeModel4DTestY = new System.Windows.Forms.TextBox();
            this.textBoxConeModel4DTestAngle = new System.Windows.Forms.TextBox();
            this.label86 = new System.Windows.Forms.Label();
            this.label89 = new System.Windows.Forms.Label();
            this.buttonTestBall = new System.Windows.Forms.Button();
            this.buttonTestWall = new System.Windows.Forms.Button();
            this.groupBox19 = new System.Windows.Forms.GroupBox();
            this.buttonConeModel4DSave = new System.Windows.Forms.Button();
            this.textBoxConeModel4DObstacleSize = new System.Windows.Forms.TextBox();
            this.label82 = new System.Windows.Forms.Label();
            this.textBoxConeModel4DConeWidth = new System.Windows.Forms.TextBox();
            this.label81 = new System.Windows.Forms.Label();
            this.textBoxConeModel4DMaxRange = new System.Windows.Forms.TextBox();
            this.label80 = new System.Windows.Forms.Label();
            this.pictureBoxSonarModel2 = new System.Windows.Forms.PictureBox();
            this.tabBeamModel = new System.Windows.Forms.TabPage();
            this.groupBox4 = new System.Windows.Forms.GroupBox();
            this.buttonTestBeamModel2 = new System.Windows.Forms.Button();
            this.textBoxBeamModelDistance = new System.Windows.Forms.TextBox();
            this.label6 = new System.Windows.Forms.Label();
            this.label109 = new System.Windows.Forms.Label();
            this.buttonSonarTestLearning = new System.Windows.Forms.Button();
            this.label45 = new System.Windows.Forms.Label();
            this.groupBox11 = new System.Windows.Forms.GroupBox();
            this.label49 = new System.Windows.Forms.Label();
            this.buttonBeamModelSave = new System.Windows.Forms.Button();
            this.label39 = new System.Windows.Forms.Label();
            this.label41 = new System.Windows.Forms.Label();
            this.label34 = new System.Windows.Forms.Label();
            this.label37 = new System.Windows.Forms.Label();
            this.label32 = new System.Windows.Forms.Label();
            this.textBoxBeamMixMax = new System.Windows.Forms.TextBox();
            this.textBoxBeamShortDecay = new System.Windows.Forms.TextBox();
            this.textBoxBeamMixRandom = new System.Windows.Forms.TextBox();
            this.textBoxBeamHitVariance = new System.Windows.Forms.TextBox();
            this.label36 = new System.Windows.Forms.Label();
            this.label33 = new System.Windows.Forms.Label();
            this.textBoxBeamMixHit = new System.Windows.Forms.TextBox();
            this.textBoxBeamMaxRange = new System.Windows.Forms.TextBox();
            this.label35 = new System.Windows.Forms.Label();
            this.textBoxBeamMixShort = new System.Windows.Forms.TextBox();
            this.pictureBoxBeamModel = new System.Windows.Forms.PictureBox();
            this.tabPageMotionModel = new System.Windows.Forms.TabPage();
            this.labelDebug = new System.Windows.Forms.Label();
            this.groupBox8 = new System.Windows.Forms.GroupBox();
            this.checkBoxMotionModelResample = new System.Windows.Forms.CheckBox();
            this.label93 = new System.Windows.Forms.Label();
            this.buttonClear = new System.Windows.Forms.Button();
            this.button1 = new System.Windows.Forms.Button();
            this.textBoxParticles = new System.Windows.Forms.TextBox();
            this.textBoxSeconds = new System.Windows.Forms.TextBox();
            this.label23 = new System.Windows.Forms.Label();
            this.label22 = new System.Windows.Forms.Label();
            this.groupBox7 = new System.Windows.Forms.GroupBox();
            this.buttonVelocityMotionModelSave = new System.Windows.Forms.Button();
            this.textBoxRerr3 = new System.Windows.Forms.TextBox();
            this.label21 = new System.Windows.Forms.Label();
            this.textBoxVerr3 = new System.Windows.Forms.TextBox();
            this.label20 = new System.Windows.Forms.Label();
            this.label18 = new System.Windows.Forms.Label();
            this.textBoxRerr2 = new System.Windows.Forms.TextBox();
            this.label14 = new System.Windows.Forms.Label();
            this.textBoxRerr1 = new System.Windows.Forms.TextBox();
            this.textBoxVerr2 = new System.Windows.Forms.TextBox();
            this.label19 = new System.Windows.Forms.Label();
            this.textBoxVerr1 = new System.Windows.Forms.TextBox();
            this.label17 = new System.Windows.Forms.Label();
            this.groupBox6 = new System.Windows.Forms.GroupBox();
            this.textBoxW = new System.Windows.Forms.TextBox();
            this.label15 = new System.Windows.Forms.Label();
            this.textBoxV = new System.Windows.Forms.TextBox();
            this.label16 = new System.Windows.Forms.Label();
            this.groupBox5 = new System.Windows.Forms.GroupBox();
            this.textBoxTheta = new System.Windows.Forms.TextBox();
            this.label13 = new System.Windows.Forms.Label();
            this.textBoxY = new System.Windows.Forms.TextBox();
            this.label12 = new System.Windows.Forms.Label();
            this.textBoxX = new System.Windows.Forms.TextBox();
            this.label11 = new System.Windows.Forms.Label();
            this.pictureBox2 = new System.Windows.Forms.PictureBox();
            this.tabPageRobot = new System.Windows.Forms.TabPage();
            this.label111 = new System.Windows.Forms.Label();
            this.label74 = new System.Windows.Forms.Label();
            this.comboBoxNavigator = new System.Windows.Forms.ComboBox();
            this.label78 = new System.Windows.Forms.Label();
            this.labelRobotResultVelocity = new System.Windows.Forms.Label();
            this.groupBox17 = new System.Windows.Forms.GroupBox();
            this.buttonRobotTestContraints = new System.Windows.Forms.Button();
            this.textBoxRobotObstacleSize = new System.Windows.Forms.TextBox();
            this.textBoxRobotObstacleDistance = new System.Windows.Forms.TextBox();
            this.label71 = new System.Windows.Forms.Label();
            this.label69 = new System.Windows.Forms.Label();
            this.groupBox16 = new System.Windows.Forms.GroupBox();
            this.buttonObstacleAvoidanceSave = new System.Windows.Forms.Button();
            this.textBoxRobotObstacleAvoidanceAngleStep = new System.Windows.Forms.TextBox();
            this.textBoxRobotObstacleClearance = new System.Windows.Forms.TextBox();
            this.label95 = new System.Windows.Forms.Label();
            this.textBoxLookAhead = new System.Windows.Forms.TextBox();
            this.label70 = new System.Windows.Forms.Label();
            this.label72 = new System.Windows.Forms.Label();
            this.groupBox12 = new System.Windows.Forms.GroupBox();
            this.buttonRobotSave = new System.Windows.Forms.Button();
            this.label63 = new System.Windows.Forms.Label();
            this.textBoxRobotMaxSpeed = new System.Windows.Forms.TextBox();
            this.textBoxRobotMaxTurn = new System.Windows.Forms.TextBox();
            this.textBoxRobotMaxTurnAccel = new System.Windows.Forms.TextBox();
            this.label65 = new System.Windows.Forms.Label();
            this.textBoxRobotMaxAccel = new System.Windows.Forms.TextBox();
            this.label64 = new System.Windows.Forms.Label();
            this.label66 = new System.Windows.Forms.Label();
            this.label68 = new System.Windows.Forms.Label();
            this.textBoxRobotWidth = new System.Windows.Forms.TextBox();
            this.label67 = new System.Windows.Forms.Label();
            this.textBoxRobotLength = new System.Windows.Forms.TextBox();
            this.pictureBoxRobotTest = new System.Windows.Forms.PictureBox();
            this.tabPageSLAM = new System.Windows.Forms.TabPage();
            this.button3 = new System.Windows.Forms.Button();
            this.buttonSlimSlam = new System.Windows.Forms.Button();
            this.groupBox3 = new System.Windows.Forms.GroupBox();
            this.checkBoxSLAMEffectiveWeightEnable = new System.Windows.Forms.CheckBox();
            this.textBoxSLAMEffectiveWeightPercent = new System.Windows.Forms.TextBox();
            this.checkBoxSLAMNoResampling = new System.Windows.Forms.CheckBox();
            this.checkBoxSLAMConditionSamplesOnMap = new System.Windows.Forms.CheckBox();
            this.GroupBox2 = new System.Windows.Forms.GroupBox();
            this.textBoxSLAMParticles = new System.Windows.Forms.TextBox();
            this.buttonSLAMGo = new System.Windows.Forms.Button();
            this.label61 = new System.Windows.Forms.Label();
            this.label62 = new System.Windows.Forms.Label();
            this.textBoxSLAMSteps = new System.Windows.Forms.TextBox();
            this.labe77 = new System.Windows.Forms.Label();
            this.textBoxSLAMInformationReduction = new System.Windows.Forms.TextBox();
            this.label87 = new System.Windows.Forms.Label();
            this.label79 = new System.Windows.Forms.Label();
            this.groupBox1 = new System.Windows.Forms.GroupBox();
            this.label2 = new System.Windows.Forms.Label();
            this.label1 = new System.Windows.Forms.Label();
            this.checkBoxUseLogFileRobot = new System.Windows.Forms.CheckBox();
            this.textBoxLogFileName = new System.Windows.Forms.TextBox();
            this.checkBoxSaveFramesToDisk = new System.Windows.Forms.CheckBox();
            this.label110 = new System.Windows.Forms.Label();
            this.label59 = new System.Windows.Forms.Label();
            this.label56 = new System.Windows.Forms.Label();
            this.label55 = new System.Windows.Forms.Label();
            this.label76 = new System.Windows.Forms.Label();
            this.label58 = new System.Windows.Forms.Label();
            this.label57 = new System.Windows.Forms.Label();
            this.label3 = new System.Windows.Forms.Label();
            this.label54 = new System.Windows.Forms.Label();
            this.pictureBoxSLAMEffectiveWeight = new System.Windows.Forms.PictureBox();
            this.pictureBoxSLAMAggregateWeights = new System.Windows.Forms.PictureBox();
            this.pictureBoxSLAMWeights = new System.Windows.Forms.PictureBox();
            this.pictureBoxSLAMWorst = new System.Windows.Forms.PictureBox();
            this.pictureBoxSLAMBest = new System.Windows.Forms.PictureBox();
            this.pictureBoxGlobalMap = new System.Windows.Forms.PictureBox();
            this.pictureBoxSLAMReal = new System.Windows.Forms.PictureBox();
            this.tabControl1 = new System.Windows.Forms.TabControl();
            this.tabSensors = new System.Windows.Forms.TabPage();
            this.radioButtonSensorsCustom = new System.Windows.Forms.RadioButton();
            this.label4 = new System.Windows.Forms.Label();
            this.label7 = new System.Windows.Forms.Label();
            this.textBoxSensorsNum = new System.Windows.Forms.TextBox();
            this.label75 = new System.Windows.Forms.Label();
            this.comboBoxConeModel = new System.Windows.Forms.ComboBox();
            this.radioButtonSensorsLaser = new System.Windows.Forms.RadioButton();
            this.radioButtonSensorsIR = new System.Windows.Forms.RadioButton();
            this.radioButtonSensorsSonars = new System.Windows.Forms.RadioButton();
            this.label5 = new System.Windows.Forms.Label();
            this.buttonUpdateSensorGrid = new System.Windows.Forms.Button();
            this.dataGridViewSensors = new System.Windows.Forms.DataGridView();
            this.tabConeModel1 = new System.Windows.Forms.TabPage();
            this.label50 = new System.Windows.Forms.Label();
            this.label46 = new System.Windows.Forms.Label();
            this.groupBox15 = new System.Windows.Forms.GroupBox();
            this.buttonConeModelSave = new System.Windows.Forms.Button();
            this.label48 = new System.Windows.Forms.Label();
            this.label43 = new System.Windows.Forms.Label();
            this.label44 = new System.Windows.Forms.Label();
            this.textBoxConeFalseProb = new System.Windows.Forms.TextBox();
            this.textBoxConeVariance = new System.Windows.Forms.TextBox();
            this.label42 = new System.Windows.Forms.Label();
            this.label47 = new System.Windows.Forms.Label();
            this.textBoxConeBeamWidth = new System.Windows.Forms.TextBox();
            this.label27 = new System.Windows.Forms.Label();
            this.textBoxConeTruthProb = new System.Windows.Forms.TextBox();
            this.textBoxConeMaxRange = new System.Windows.Forms.TextBox();
            this.textBoxConeObstacleSize = new System.Windows.Forms.TextBox();
            this.pictureBoxConeModel = new System.Windows.Forms.PictureBox();
            this.groupBox13 = new System.Windows.Forms.GroupBox();
            this.buttonTestBeamModel = new System.Windows.Forms.Button();
            this.textBoxConeModelDistance = new System.Windows.Forms.TextBox();
            this.label38 = new System.Windows.Forms.Label();
            this.tabPageOdometryMotionModel = new System.Windows.Forms.TabPage();
            this.pictureBox1 = new System.Windows.Forms.PictureBox();
            this.groupBox9 = new System.Windows.Forms.GroupBox();
            this.textBox1 = new System.Windows.Forms.TextBox();
            this.label8 = new System.Windows.Forms.Label();
            this.textBox2 = new System.Windows.Forms.TextBox();
            this.label9 = new System.Windows.Forms.Label();
            this.textBox3 = new System.Windows.Forms.TextBox();
            this.label10 = new System.Windows.Forms.Label();
            this.groupBox10 = new System.Windows.Forms.GroupBox();
            this.textBox4 = new System.Windows.Forms.TextBox();
            this.label24 = new System.Windows.Forms.Label();
            this.textBox5 = new System.Windows.Forms.TextBox();
            this.label25 = new System.Windows.Forms.Label();
            this.groupBox14 = new System.Windows.Forms.GroupBox();
            this.button2 = new System.Windows.Forms.Button();
            this.textBox6 = new System.Windows.Forms.TextBox();
            this.label26 = new System.Windows.Forms.Label();
            this.textBox7 = new System.Windows.Forms.TextBox();
            this.label28 = new System.Windows.Forms.Label();
            this.label29 = new System.Windows.Forms.Label();
            this.textBox8 = new System.Windows.Forms.TextBox();
            this.label30 = new System.Windows.Forms.Label();
            this.textBox9 = new System.Windows.Forms.TextBox();
            this.textBox10 = new System.Windows.Forms.TextBox();
            this.label31 = new System.Windows.Forms.Label();
            this.textBox11 = new System.Windows.Forms.TextBox();
            this.label40 = new System.Windows.Forms.Label();
            this.groupBox18 = new System.Windows.Forms.GroupBox();
            this.checkBox1 = new System.Windows.Forms.CheckBox();
            this.label51 = new System.Windows.Forms.Label();
            this.button4 = new System.Windows.Forms.Button();
            this.button5 = new System.Windows.Forms.Button();
            this.textBox12 = new System.Windows.Forms.TextBox();
            this.textBox13 = new System.Windows.Forms.TextBox();
            this.label52 = new System.Windows.Forms.Label();
            this.label53 = new System.Windows.Forms.Label();
            this.checkBox2 = new System.Windows.Forms.CheckBox();
            this.label60 = new System.Windows.Forms.Label();
            this.button6 = new System.Windows.Forms.Button();
            this.button7 = new System.Windows.Forms.Button();
            this.textBox14 = new System.Windows.Forms.TextBox();
            this.textBox15 = new System.Windows.Forms.TextBox();
            this.label73 = new System.Windows.Forms.Label();
            this.label77 = new System.Windows.Forms.Label();
            this.button8 = new System.Windows.Forms.Button();
            this.textBox16 = new System.Windows.Forms.TextBox();
            this.label88 = new System.Windows.Forms.Label();
            this.textBox17 = new System.Windows.Forms.TextBox();
            this.label94 = new System.Windows.Forms.Label();
            this.label108 = new System.Windows.Forms.Label();
            this.textBox18 = new System.Windows.Forms.TextBox();
            this.label112 = new System.Windows.Forms.Label();
            this.textBox19 = new System.Windows.Forms.TextBox();
            this.textBox20 = new System.Windows.Forms.TextBox();
            this.label113 = new System.Windows.Forms.Label();
            this.textBox21 = new System.Windows.Forms.TextBox();
            this.label114 = new System.Windows.Forms.Label();
            this.textBox22 = new System.Windows.Forms.TextBox();
            this.label115 = new System.Windows.Forms.Label();
            this.textBox23 = new System.Windows.Forms.TextBox();
            this.label116 = new System.Windows.Forms.Label();
            this.textBox24 = new System.Windows.Forms.TextBox();
            this.label117 = new System.Windows.Forms.Label();
            this.textBox25 = new System.Windows.Forms.TextBox();
            this.label118 = new System.Windows.Forms.Label();
            this.textBox26 = new System.Windows.Forms.TextBox();
            this.label119 = new System.Windows.Forms.Label();
            this.groupBox22 = new System.Windows.Forms.GroupBox();
            this.checkBoxOdometryModelResample = new System.Windows.Forms.CheckBox();
            this.label120 = new System.Windows.Forms.Label();
            this.buttonOdometryModelClear = new System.Windows.Forms.Button();
            this.buttonOdometryModelStep = new System.Windows.Forms.Button();
            this.textBoxOdometryModelParticles = new System.Windows.Forms.TextBox();
            this.label121 = new System.Windows.Forms.Label();
            this.groupBox23 = new System.Windows.Forms.GroupBox();
            this.buttonOdometryModelSave = new System.Windows.Forms.Button();
            this.label124 = new System.Windows.Forms.Label();
            this.textBoxOdometryModelRErr2 = new System.Windows.Forms.TextBox();
            this.label126 = new System.Windows.Forms.Label();
            this.textBoxOdometryModelRErr1 = new System.Windows.Forms.TextBox();
            this.textBoxOdometryModelVErr2 = new System.Windows.Forms.TextBox();
            this.label127 = new System.Windows.Forms.Label();
            this.textBoxOdometryModelVErr1 = new System.Windows.Forms.TextBox();
            this.label128 = new System.Windows.Forms.Label();
            this.groupBox25 = new System.Windows.Forms.GroupBox();
            this.textBoxOdometryModelTheta = new System.Windows.Forms.TextBox();
            this.label131 = new System.Windows.Forms.Label();
            this.textBoxOdometryModelY = new System.Windows.Forms.TextBox();
            this.label132 = new System.Windows.Forms.Label();
            this.textBoxOdometryModelX = new System.Windows.Forms.TextBox();
            this.label133 = new System.Windows.Forms.Label();
            this.pictureBoxOdometryModel = new System.Windows.Forms.PictureBox();
            this.groupBox24 = new System.Windows.Forms.GroupBox();
            this.textBoxOdometryModelDTheta = new System.Windows.Forms.TextBox();
            this.label123 = new System.Windows.Forms.Label();
            this.textBoxOdometryModelDY = new System.Windows.Forms.TextBox();
            this.label125 = new System.Windows.Forms.Label();
            this.textBoxOdometryModelDX = new System.Windows.Forms.TextBox();
            this.label129 = new System.Windows.Forms.Label();
            this.menuStrip1.SuspendLayout();
            this.tabNavigation.SuspendLayout();
            this.groupBox21.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxVFHResults)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxVFHSmooth)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxVFH)).BeginInit();
            this.tabConeModel2.SuspendLayout();
            this.groupBox20.SuspendLayout();
            this.groupBox19.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSonarModel2)).BeginInit();
            this.tabBeamModel.SuspendLayout();
            this.groupBox4.SuspendLayout();
            this.groupBox11.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxBeamModel)).BeginInit();
            this.tabPageMotionModel.SuspendLayout();
            this.groupBox8.SuspendLayout();
            this.groupBox7.SuspendLayout();
            this.groupBox6.SuspendLayout();
            this.groupBox5.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit();
            this.tabPageRobot.SuspendLayout();
            this.groupBox17.SuspendLayout();
            this.groupBox16.SuspendLayout();
            this.groupBox12.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxRobotTest)).BeginInit();
            this.tabPageSLAM.SuspendLayout();
            this.groupBox3.SuspendLayout();
            this.GroupBox2.SuspendLayout();
            this.groupBox1.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMEffectiveWeight)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMAggregateWeights)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMWeights)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMWorst)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMBest)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxGlobalMap)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMReal)).BeginInit();
            this.tabControl1.SuspendLayout();
            this.tabSensors.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.dataGridViewSensors)).BeginInit();
            this.tabConeModel1.SuspendLayout();
            this.groupBox15.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxConeModel)).BeginInit();
            this.groupBox13.SuspendLayout();
            this.tabPageOdometryMotionModel.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
            this.groupBox9.SuspendLayout();
            this.groupBox10.SuspendLayout();
            this.groupBox14.SuspendLayout();
            this.groupBox18.SuspendLayout();
            this.groupBox22.SuspendLayout();
            this.groupBox23.SuspendLayout();
            this.groupBox25.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxOdometryModel)).BeginInit();
            this.groupBox24.SuspendLayout();
            this.SuspendLayout();
            // 
            // openFileDialog1
            // 
            this.openFileDialog1.FileName = "openFileDialogMap";
            this.openFileDialog1.Filter = "JPEG Images (*.jpg) |*.jpg| PNG Images (*.png) |*.png";
            // 
            // menuStrip1
            // 
            this.menuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
            this.fileToolStripMenuItem,
            this.helpToolStripMenuItem});
            this.menuStrip1.Location = new System.Drawing.Point(0, 0);
            this.menuStrip1.Name = "menuStrip1";
            this.menuStrip1.Size = new System.Drawing.Size(821, 24);
            this.menuStrip1.TabIndex = 18;
            this.menuStrip1.Text = "menuStrip1";
            // 
            // fileToolStripMenuItem
            // 
            this.fileToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
            this.openMapToolStripMenuItem,
            this.openLogFileToolStripMenuItem,
            this.quitToolStripMenuItem});
            this.fileToolStripMenuItem.Name = "fileToolStripMenuItem";
            this.fileToolStripMenuItem.Size = new System.Drawing.Size(35, 20);
            this.fileToolStripMenuItem.Text = "File";
            // 
            // openMapToolStripMenuItem
            // 
            this.openMapToolStripMenuItem.Name = "openMapToolStripMenuItem";
            this.openMapToolStripMenuItem.Size = new System.Drawing.Size(162, 22);
            this.openMapToolStripMenuItem.Text = "Open Map...";
            this.openMapToolStripMenuItem.Click += new System.EventHandler(this.openMapToolStripMenuItem_Click);
            // 
            // openLogFileToolStripMenuItem
            // 
            this.openLogFileToolStripMenuItem.Name = "openLogFileToolStripMenuItem";
            this.openLogFileToolStripMenuItem.Size = new System.Drawing.Size(162, 22);
            this.openLogFileToolStripMenuItem.Text = "Open Log File...";
            this.openLogFileToolStripMenuItem.Click += new System.EventHandler(this.openLogFileToolStripMenuItem_Click);
            // 
            // quitToolStripMenuItem
            // 
            this.quitToolStripMenuItem.Name = "quitToolStripMenuItem";
            this.quitToolStripMenuItem.Size = new System.Drawing.Size(162, 22);
            this.quitToolStripMenuItem.Text = "Quit";
            this.quitToolStripMenuItem.Click += new System.EventHandler(this.quitToolStripMenuItem_Click);
            // 
            // helpToolStripMenuItem
            // 
            this.helpToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
            this.aboutToolStripMenuItem});
            this.helpToolStripMenuItem.Name = "helpToolStripMenuItem";
            this.helpToolStripMenuItem.Size = new System.Drawing.Size(40, 20);
            this.helpToolStripMenuItem.Text = "Help";
            // 
            // aboutToolStripMenuItem
            // 
            this.aboutToolStripMenuItem.Name = "aboutToolStripMenuItem";
            this.aboutToolStripMenuItem.Size = new System.Drawing.Size(126, 22);
            this.aboutToolStripMenuItem.Text = "About...";
            this.aboutToolStripMenuItem.Click += new System.EventHandler(this.aboutToolStripMenuItem_Click);
            // 
            // tabNavigation
            // 
            this.tabNavigation.Controls.Add(this.label106);
            this.tabNavigation.Controls.Add(this.label107);
            this.tabNavigation.Controls.Add(this.label105);
            this.tabNavigation.Controls.Add(this.groupBox21);
            this.tabNavigation.Controls.Add(this.buttonCreateVFH);
            this.tabNavigation.Controls.Add(this.label101);
            this.tabNavigation.Controls.Add(this.label104);
            this.tabNavigation.Controls.Add(this.label100);
            this.tabNavigation.Controls.Add(this.label99);
            this.tabNavigation.Controls.Add(this.pictureBoxVFHResults);
            this.tabNavigation.Controls.Add(this.pictureBoxVFHSmooth);
            this.tabNavigation.Controls.Add(this.pictureBoxVFH);
            this.tabNavigation.Controls.Add(this.labelVFH);
            this.tabNavigation.Location = new System.Drawing.Point(4, 22);
            this.tabNavigation.Name = "tabNavigation";
            this.tabNavigation.Padding = new System.Windows.Forms.Padding(3);
            this.tabNavigation.Size = new System.Drawing.Size(797, 573);
            this.tabNavigation.TabIndex = 9;
            this.tabNavigation.Text = "Navigation";
            this.tabNavigation.UseVisualStyleBackColor = true;
            // 
            // label106
            // 
            this.label106.AutoSize = true;
            this.label106.Location = new System.Drawing.Point(40, 354);
            this.label106.Name = "label106";
            this.label106.Size = new System.Drawing.Size(247, 13);
            this.label106.TabIndex = 11;
            this.label106.Text = "Using the robot\'s current position in the Global Map";
            // 
            // label107
            // 
            this.label107.Location = new System.Drawing.Point(489, 278);
            this.label107.Name = "label107";
            this.label107.Size = new System.Drawing.Size(156, 89);
            this.label107.TabIndex = 10;
            this.label107.Text = "Looks for the closest valley, then moves down the middle if a small valley, or th" +
                "e middle of the angle between the closest edge plus large valley size.";
            // 
            // label105
            // 
            this.label105.Location = new System.Drawing.Point(489, 219);
            this.label105.Name = "label105";
            this.label105.Size = new System.Drawing.Size(156, 59);
            this.label105.TabIndex = 10;
            this.label105.Text = "Left of Valley is Green, Right is blue. Canditate direction is black. Chosen dire" +
                "ction is red.";
            // 
            // groupBox21
            // 
            this.groupBox21.Controls.Add(this.buttonVFHSave);
            this.groupBox21.Controls.Add(this.labelVFHSegments);
            this.groupBox21.Controls.Add(this.textBoxVFHValleyThreashold);
            this.groupBox21.Controls.Add(this.label103);
            this.groupBox21.Controls.Add(this.textBoxVFHLargeValley);
            this.groupBox21.Controls.Add(this.label102);
            this.groupBox21.Controls.Add(this.textBoxVFHRange);
            this.groupBox21.Controls.Add(this.label97);
            this.groupBox21.Controls.Add(this.textBoxVFHNumSegments);
            this.groupBox21.Controls.Add(this.label96);
            this.groupBox21.Controls.Add(this.textBoxVFHTruncateAt);
            this.groupBox21.Controls.Add(this.label98);
            this.groupBox21.Controls.Add(this.textBoxVFHSmoothingRange);
            this.groupBox21.Location = new System.Drawing.Point(43, 71);
            this.groupBox21.Name = "groupBox21";
            this.groupBox21.Size = new System.Drawing.Size(257, 218);
            this.groupBox21.TabIndex = 9;
            this.groupBox21.TabStop = false;
            this.groupBox21.Text = "VFH";
            // 
            // buttonVFHSave
            // 
            this.buttonVFHSave.Location = new System.Drawing.Point(103, 182);
            this.buttonVFHSave.Name = "buttonVFHSave";
            this.buttonVFHSave.Size = new System.Drawing.Size(124, 23);
            this.buttonVFHSave.TabIndex = 6;
            this.buttonVFHSave.Text = "Save VFH";
            this.buttonVFHSave.UseVisualStyleBackColor = true;
            this.buttonVFHSave.Click += new System.EventHandler(this.buttonVFHSave_Click);
            // 
            // labelVFHSegments
            // 
            this.labelVFHSegments.AutoSize = true;
            this.labelVFHSegments.Location = new System.Drawing.Point(29, 28);
            this.labelVFHSegments.Name = "labelVFHSegments";
            this.labelVFHSegments.Size = new System.Drawing.Size(54, 13);
            this.labelVFHSegments.TabIndex = 3;
            this.labelVFHSegments.Text = "Segments";
            // 
            // textBoxVFHValleyThreashold
            // 
            this.textBoxVFHValleyThreashold.Location = new System.Drawing.Point(127, 156);
            this.textBoxVFHValleyThreashold.Name = "textBoxVFHValleyThreashold";
            this.textBoxVFHValleyThreashold.Size = new System.Drawing.Size(100, 20);
            this.textBoxVFHValleyThreashold.TabIndex = 2;
            this.textBoxVFHValleyThreashold.Text = "0.2";
            // 
            // label103
            // 
            this.label103.AutoSize = true;
            this.label103.Location = new System.Drawing.Point(29, 156);
            this.label103.Name = "label103";
            this.label103.Size = new System.Drawing.Size(91, 13);
            this.label103.TabIndex = 3;
            this.label103.Text = "Valley Threashold";
            // 
            // textBoxVFHLargeValley
            // 
            this.textBoxVFHLargeValley.Location = new System.Drawing.Point(127, 130);
            this.textBoxVFHLargeValley.Name = "textBoxVFHLargeValley";
            this.textBoxVFHLargeValley.Size = new System.Drawing.Size(100, 20);
            this.textBoxVFHLargeValley.TabIndex = 2;
            this.textBoxVFHLargeValley.Text = "30";
            // 
            // label102
            // 
            this.label102.AutoSize = true;
            this.label102.Location = new System.Drawing.Point(29, 130);
            this.label102.Name = "label102";
            this.label102.Size = new System.Drawing.Size(74, 13);
            this.label102.TabIndex = 3;
            this.label102.Text = "Large Valley >";
            // 
            // textBoxVFHRange
            // 
            this.textBoxVFHRange.Location = new System.Drawing.Point(127, 104);
            this.textBoxVFHRange.Name = "textBoxVFHRange";
            this.textBoxVFHRange.Size = new System.Drawing.Size(100, 20);
            this.textBoxVFHRange.TabIndex = 2;
            this.textBoxVFHRange.Text = "150";
            // 
            // label97
            // 
            this.label97.AutoSize = true;
            this.label97.Location = new System.Drawing.Point(29, 104);
            this.label97.Name = "label97";
            this.label97.Size = new System.Drawing.Size(39, 13);
            this.label97.TabIndex = 3;
            this.label97.Text = "Range";
            // 
            // textBoxVFHNumSegments
            // 
            this.textBoxVFHNumSegments.Location = new System.Drawing.Point(127, 25);
            this.textBoxVFHNumSegments.Name = "textBoxVFHNumSegments";
            this.textBoxVFHNumSegments.Size = new System.Drawing.Size(100, 20);
            this.textBoxVFHNumSegments.TabIndex = 5;
            this.textBoxVFHNumSegments.Text = "144";
            // 
            // label96
            // 
            this.label96.AutoSize = true;
            this.label96.Location = new System.Drawing.Point(29, 81);
            this.label96.Name = "label96";
            this.label96.Size = new System.Drawing.Size(57, 13);
            this.label96.TabIndex = 3;
            this.label96.Text = "Smoothing";
            // 
            // textBoxVFHTruncateAt
            // 
            this.textBoxVFHTruncateAt.Location = new System.Drawing.Point(127, 51);
            this.textBoxVFHTruncateAt.Name = "textBoxVFHTruncateAt";
            this.textBoxVFHTruncateAt.Size = new System.Drawing.Size(100, 20);
            this.textBoxVFHTruncateAt.TabIndex = 5;
            this.textBoxVFHTruncateAt.Text = "2";
            // 
            // label98
            // 
            this.label98.AutoSize = true;
            this.label98.Location = new System.Drawing.Point(29, 54);
            this.label98.Name = "label98";
            this.label98.Size = new System.Drawing.Size(63, 13);
            this.label98.TabIndex = 3;
            this.label98.Text = "Truncate At";
            // 
            // textBoxVFHSmoothingRange
            // 
            this.textBoxVFHSmoothingRange.Location = new System.Drawing.Point(127, 78);
            this.textBoxVFHSmoothingRange.Name = "textBoxVFHSmoothingRange";
            this.textBoxVFHSmoothingRange.Size = new System.Drawing.Size(100, 20);
            this.textBoxVFHSmoothingRange.TabIndex = 5;
            this.textBoxVFHSmoothingRange.Text = "3";
            // 
            // buttonCreateVFH
            // 
            this.buttonCreateVFH.Location = new System.Drawing.Point(43, 328);
            this.buttonCreateVFH.Name = "buttonCreateVFH";
            this.buttonCreateVFH.Size = new System.Drawing.Size(98, 23);
            this.buttonCreateVFH.TabIndex = 0;
            this.buttonCreateVFH.Text = "View VFH";
            this.buttonCreateVFH.UseVisualStyleBackColor = true;
            this.buttonCreateVFH.Click += new System.EventHandler(this.buttonCreateVFH_Click);
            // 
            // label101
            // 
            this.label101.Location = new System.Drawing.Point(40, 20);
            this.label101.Name = "label101";
            this.label101.Size = new System.Drawing.Size(257, 48);
            this.label101.TabIndex = 8;
            this.label101.Text = "The Vector Field Histogram algorythm looks at the occupancy values within range a" +
                "nd builds densities per angular segment.";
            // 
            // label104
            // 
            this.label104.AutoSize = true;
            this.label104.Location = new System.Drawing.Point(321, 203);
            this.label104.Name = "label104";
            this.label104.Size = new System.Drawing.Size(111, 13);
            this.label104.TabIndex = 7;
            this.label104.Text = "Valleys and Directions";
            // 
            // label100
            // 
            this.label100.AutoSize = true;
            this.label100.Location = new System.Drawing.Point(492, 20);
            this.label100.Name = "label100";
            this.label100.Size = new System.Drawing.Size(128, 13);
            this.label100.TabIndex = 7;
            this.label100.Text = "Truncated and Smoothed";
            // 
            // label99
            // 
            this.label99.AutoSize = true;
            this.label99.Location = new System.Drawing.Point(321, 20);
            this.label99.Name = "label99";
            this.label99.Size = new System.Drawing.Size(75, 13);
            this.label99.TabIndex = 6;
            this.label99.Text = "Raw Densities";
            // 
            // pictureBoxVFHResults
            // 
            this.pictureBoxVFHResults.BackColor = System.Drawing.Color.White;
            this.pictureBoxVFHResults.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxVFHResults.Location = new System.Drawing.Point(324, 219);
            this.pictureBoxVFHResults.Name = "pictureBoxVFHResults";
            this.pictureBoxVFHResults.Size = new System.Drawing.Size(150, 150);
            this.pictureBoxVFHResults.TabIndex = 4;
            this.pictureBoxVFHResults.TabStop = false;
            // 
            // pictureBoxVFHSmooth
            // 
            this.pictureBoxVFHSmooth.BackColor = System.Drawing.Color.White;
            this.pictureBoxVFHSmooth.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxVFHSmooth.Location = new System.Drawing.Point(495, 36);
            this.pictureBoxVFHSmooth.Name = "pictureBoxVFHSmooth";
            this.pictureBoxVFHSmooth.Size = new System.Drawing.Size(150, 150);
            this.pictureBoxVFHSmooth.TabIndex = 4;
            this.pictureBoxVFHSmooth.TabStop = false;
            // 
            // pictureBoxVFH
            // 
            this.pictureBoxVFH.BackColor = System.Drawing.Color.White;
            this.pictureBoxVFH.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxVFH.Location = new System.Drawing.Point(324, 37);
            this.pictureBoxVFH.Name = "pictureBoxVFH";
            this.pictureBoxVFH.Size = new System.Drawing.Size(150, 150);
            this.pictureBoxVFH.TabIndex = 4;
            this.pictureBoxVFH.TabStop = false;
            // 
            // labelVFH
            // 
            this.labelVFH.Location = new System.Drawing.Point(27, 441);
            this.labelVFH.Name = "labelVFH";
            this.labelVFH.Size = new System.Drawing.Size(710, 67);
            this.labelVFH.TabIndex = 1;
            // 
            // tabConeModel2
            // 
            this.tabConeModel2.Controls.Add(this.label92);
            this.tabConeModel2.Controls.Add(this.label91);
            this.tabConeModel2.Controls.Add(this.label90);
            this.tabConeModel2.Controls.Add(this.groupBox20);
            this.tabConeModel2.Controls.Add(this.label89);
            this.tabConeModel2.Controls.Add(this.buttonTestBall);
            this.tabConeModel2.Controls.Add(this.buttonTestWall);
            this.tabConeModel2.Controls.Add(this.groupBox19);
            this.tabConeModel2.Controls.Add(this.pictureBoxSonarModel2);
            this.tabConeModel2.Location = new System.Drawing.Point(4, 22);
            this.tabConeModel2.Name = "tabConeModel2";
            this.tabConeModel2.Padding = new System.Windows.Forms.Padding(3);
            this.tabConeModel2.Size = new System.Drawing.Size(797, 573);
            this.tabConeModel2.TabIndex = 8;
            this.tabConeModel2.Text = "Cone Model 2";
            this.tabConeModel2.UseVisualStyleBackColor = true;
            // 
            // label92
            // 
            this.label92.AutoSize = true;
            this.label92.Location = new System.Drawing.Point(228, 22);
            this.label92.Name = "label92";
            this.label92.Size = new System.Drawing.Size(108, 13);
            this.label92.TabIndex = 10;
            this.label92.Text = "A 1 pixel per cm map ";
            // 
            // label91
            // 
            this.label91.Location = new System.Drawing.Point(167, 497);
            this.label91.Name = "label91";
            this.label91.Size = new System.Drawing.Size(258, 52);
            this.label91.TabIndex = 9;
            this.label91.Text = resources.GetString("label91.Text");
            // 
            // label90
            // 
            this.label90.AutoSize = true;
            this.label90.Location = new System.Drawing.Point(167, 463);
            this.label90.Name = "label90";
            this.label90.Size = new System.Drawing.Size(169, 13);
            this.label90.TabIndex = 8;
            this.label90.Text = "This looks at the flatness of a wall.";
            // 
            // groupBox20
            // 
            this.groupBox20.Controls.Add(this.textBoxConeModel4DTestX);
            this.groupBox20.Controls.Add(this.label83);
            this.groupBox20.Controls.Add(this.label84);
            this.groupBox20.Controls.Add(this.textBoxConeModel4DTestRange);
            this.groupBox20.Controls.Add(this.label85);
            this.groupBox20.Controls.Add(this.buttonConeModel4DTestHit);
            this.groupBox20.Controls.Add(this.textBoxConeModel4DTestY);
            this.groupBox20.Controls.Add(this.textBoxConeModel4DTestAngle);
            this.groupBox20.Controls.Add(this.label86);
            this.groupBox20.Location = new System.Drawing.Point(19, 246);
            this.groupBox20.Name = "groupBox20";
            this.groupBox20.Size = new System.Drawing.Size(200, 179);
            this.groupBox20.TabIndex = 7;
            this.groupBox20.TabStop = false;
            this.groupBox20.Text = "Test a single hit";
            // 
            // textBoxConeModel4DTestX
            // 
            this.textBoxConeModel4DTestX.Location = new System.Drawing.Point(134, 31);
            this.textBoxConeModel4DTestX.Name = "textBoxConeModel4DTestX";
            this.textBoxConeModel4DTestX.Size = new System.Drawing.Size(54, 20);
            this.textBoxConeModel4DTestX.TabIndex = 3;
            this.textBoxConeModel4DTestX.Text = "50";
            // 
            // label83
            // 
            this.label83.AutoSize = true;
            this.label83.Location = new System.Drawing.Point(22, 109);
            this.label83.Name = "label83";
            this.label83.Size = new System.Drawing.Size(62, 13);
            this.label83.TabIndex = 0;
            this.label83.Text = "Range (cm)";
            // 
            // label84
            // 
            this.label84.AutoSize = true;
            this.label84.Location = new System.Drawing.Point(22, 83);
            this.label84.Name = "label84";
            this.label84.Size = new System.Drawing.Size(63, 13);
            this.label84.TabIndex = 0;
            this.label84.Text = "Angle (rads)";
            // 
            // textBoxConeModel4DTestRange
            // 
            this.textBoxConeModel4DTestRange.Location = new System.Drawing.Point(134, 109);
            this.textBoxConeModel4DTestRange.Name = "textBoxConeModel4DTestRange";
            this.textBoxConeModel4DTestRange.Size = new System.Drawing.Size(54, 20);
            this.textBoxConeModel4DTestRange.TabIndex = 3;
            this.textBoxConeModel4DTestRange.Text = "140";
            // 
            // label85
            // 
            this.label85.AutoSize = true;
            this.label85.Location = new System.Drawing.Point(22, 57);
            this.label85.Name = "label85";
            this.label85.Size = new System.Drawing.Size(14, 13);
            this.label85.TabIndex = 0;
            this.label85.Text = "Y";
            // 
            // buttonConeModel4DTestHit
            // 
            this.buttonConeModel4DTestHit.Location = new System.Drawing.Point(88, 144);
            this.buttonConeModel4DTestHit.Name = "buttonConeModel4DTestHit";
            this.buttonConeModel4DTestHit.Size = new System.Drawing.Size(100, 23);
            this.buttonConeModel4DTestHit.TabIndex = 1;
            this.buttonConeModel4DTestHit.Text = "Test Single Hit";
            this.buttonConeModel4DTestHit.UseVisualStyleBackColor = true;
            this.buttonConeModel4DTestHit.Click += new System.EventHandler(this.buttonConeModel4DTestHit_Click);
            // 
            // textBoxConeModel4DTestY
            // 
            this.textBoxConeModel4DTestY.Location = new System.Drawing.Point(134, 57);
            this.textBoxConeModel4DTestY.Name = "textBoxConeModel4DTestY";
            this.textBoxConeModel4DTestY.Size = new System.Drawing.Size(54, 20);
            this.textBoxConeModel4DTestY.TabIndex = 3;
            this.textBoxConeModel4DTestY.Text = "140";
            // 
            // textBoxConeModel4DTestAngle
            // 
            this.textBoxConeModel4DTestAngle.Location = new System.Drawing.Point(134, 83);
            this.textBoxConeModel4DTestAngle.Name = "textBoxConeModel4DTestAngle";
            this.textBoxConeModel4DTestAngle.Size = new System.Drawing.Size(54, 20);
            this.textBoxConeModel4DTestAngle.TabIndex = 3;
            this.textBoxConeModel4DTestAngle.Text = "0";
            // 
            // label86
            // 
            this.label86.AutoSize = true;
            this.label86.Location = new System.Drawing.Point(22, 31);
            this.label86.Name = "label86";
            this.label86.Size = new System.Drawing.Size(14, 13);
            this.label86.TabIndex = 0;
            this.label86.Text = "X";
            // 
            // label89
            // 
            this.label89.Location = new System.Drawing.Point(12, 22);
            this.label89.Name = "label89";
            this.label89.Size = new System.Drawing.Size(191, 76);
            this.label89.TabIndex = 6;
            this.label89.Text = "This cone model uses a combination of 4 gaussian distributions to model hits and " +
                "empty space. It hasn\'t been optimised, and the variances aren\'t empirical.";
            // 
            // buttonTestBall
            // 
            this.buttonTestBall.Location = new System.Drawing.Point(25, 497);
            this.buttonTestBall.Name = "buttonTestBall";
            this.buttonTestBall.Size = new System.Drawing.Size(133, 23);
            this.buttonTestBall.TabIndex = 5;
            this.buttonTestBall.Text = "Test Ball";
            this.buttonTestBall.UseVisualStyleBackColor = true;
            this.buttonTestBall.Click += new System.EventHandler(this.buttonTestBall_Click);
            // 
            // buttonTestWall
            // 
            this.buttonTestWall.Location = new System.Drawing.Point(25, 458);
            this.buttonTestWall.Name = "buttonTestWall";
            this.buttonTestWall.Size = new System.Drawing.Size(133, 23);
            this.buttonTestWall.TabIndex = 4;
            this.buttonTestWall.Text = "Test Wall";
            this.buttonTestWall.UseVisualStyleBackColor = true;
            this.buttonTestWall.Click += new System.EventHandler(this.buttonTestWall_Click);
            // 
            // groupBox19
            // 
            this.groupBox19.Controls.Add(this.buttonConeModel4DSave);
            this.groupBox19.Controls.Add(this.textBoxConeModel4DObstacleSize);
            this.groupBox19.Controls.Add(this.label82);
            this.groupBox19.Controls.Add(this.textBoxConeModel4DConeWidth);
            this.groupBox19.Controls.Add(this.label81);
            this.groupBox19.Controls.Add(this.textBoxConeModel4DMaxRange);
            this.groupBox19.Controls.Add(this.label80);
            this.groupBox19.Location = new System.Drawing.Point(19, 96);
            this.groupBox19.Name = "groupBox19";
            this.groupBox19.Size = new System.Drawing.Size(200, 144);
            this.groupBox19.TabIndex = 2;
            this.groupBox19.TabStop = false;
            this.groupBox19.Text = "Cone Model 4D Gaussian";
            // 
            // buttonConeModel4DSave
            // 
            this.buttonConeModel4DSave.Location = new System.Drawing.Point(88, 108);
            this.buttonConeModel4DSave.Name = "buttonConeModel4DSave";
            this.buttonConeModel4DSave.Size = new System.Drawing.Size(100, 23);
            this.buttonConeModel4DSave.TabIndex = 2;
            this.buttonConeModel4DSave.Text = "Save";
            this.buttonConeModel4DSave.UseVisualStyleBackColor = true;
            this.buttonConeModel4DSave.Click += new System.EventHandler(this.buttonConeModel4DSave_Click);
            // 
            // textBoxConeModel4DObstacleSize
            // 
            this.textBoxConeModel4DObstacleSize.Location = new System.Drawing.Point(134, 81);
            this.textBoxConeModel4DObstacleSize.Name = "textBoxConeModel4DObstacleSize";
            this.textBoxConeModel4DObstacleSize.Size = new System.Drawing.Size(54, 20);
            this.textBoxConeModel4DObstacleSize.TabIndex = 1;
            this.textBoxConeModel4DObstacleSize.Text = "10";
            // 
            // label82
            // 
            this.label82.AutoSize = true;
            this.label82.Location = new System.Drawing.Point(6, 84);
            this.label82.Name = "label82";
            this.label82.Size = new System.Drawing.Size(95, 13);
            this.label82.TabIndex = 0;
            this.label82.Text = "Obstacle Size (cm)";
            // 
            // textBoxConeModel4DConeWidth
            // 
            this.textBoxConeModel4DConeWidth.Location = new System.Drawing.Point(134, 55);
            this.textBoxConeModel4DConeWidth.Name = "textBoxConeModel4DConeWidth";
            this.textBoxConeModel4DConeWidth.Size = new System.Drawing.Size(54, 20);
            this.textBoxConeModel4DConeWidth.TabIndex = 1;
            this.textBoxConeModel4DConeWidth.Text = "0.8";
            // 
            // label81
            // 
            this.label81.AutoSize = true;
            this.label81.Location = new System.Drawing.Point(6, 58);
            this.label81.Name = "label81";
            this.label81.Size = new System.Drawing.Size(92, 13);
            this.label81.TabIndex = 0;
            this.label81.Text = "Cone Width (rads)";
            // 
            // textBoxConeModel4DMaxRange
            // 
            this.textBoxConeModel4DMaxRange.Location = new System.Drawing.Point(134, 29);
            this.textBoxConeModel4DMaxRange.Name = "textBoxConeModel4DMaxRange";
            this.textBoxConeModel4DMaxRange.Size = new System.Drawing.Size(54, 20);
            this.textBoxConeModel4DMaxRange.TabIndex = 1;
            this.textBoxConeModel4DMaxRange.Text = "200";
            // 
            // label80
            // 
            this.label80.AutoSize = true;
            this.label80.Location = new System.Drawing.Point(6, 32);
            this.label80.Name = "label80";
            this.label80.Size = new System.Drawing.Size(85, 13);
            this.label80.TabIndex = 0;
            this.label80.Text = "Max Range (cm)";
            // 
            // pictureBoxSonarModel2
            // 
            this.pictureBoxSonarModel2.BackColor = System.Drawing.Color.White;
            this.pictureBoxSonarModel2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxSonarModel2.Location = new System.Drawing.Point(231, 38);
            this.pictureBoxSonarModel2.Name = "pictureBoxSonarModel2";
            this.pictureBoxSonarModel2.Size = new System.Drawing.Size(551, 327);
            this.pictureBoxSonarModel2.TabIndex = 0;
            this.pictureBoxSonarModel2.TabStop = false;
            // 
            // tabBeamModel
            // 
            this.tabBeamModel.Controls.Add(this.groupBox4);
            this.tabBeamModel.Controls.Add(this.label109);
            this.tabBeamModel.Controls.Add(this.buttonSonarTestLearning);
            this.tabBeamModel.Controls.Add(this.label45);
            this.tabBeamModel.Controls.Add(this.groupBox11);
            this.tabBeamModel.Controls.Add(this.pictureBoxBeamModel);
            this.tabBeamModel.Location = new System.Drawing.Point(4, 22);
            this.tabBeamModel.Name = "tabBeamModel";
            this.tabBeamModel.Padding = new System.Windows.Forms.Padding(3);
            this.tabBeamModel.Size = new System.Drawing.Size(797, 573);
            this.tabBeamModel.TabIndex = 4;
            this.tabBeamModel.Text = "Beam Model";
            this.tabBeamModel.UseVisualStyleBackColor = true;
            // 
            // groupBox4
            // 
            this.groupBox4.Controls.Add(this.buttonTestBeamModel2);
            this.groupBox4.Controls.Add(this.textBoxBeamModelDistance);
            this.groupBox4.Controls.Add(this.label6);
            this.groupBox4.Location = new System.Drawing.Point(19, 369);
            this.groupBox4.Name = "groupBox4";
            this.groupBox4.Size = new System.Drawing.Size(200, 82);
            this.groupBox4.TabIndex = 12;
            this.groupBox4.TabStop = false;
            this.groupBox4.Text = "Test";
            // 
            // buttonTestBeamModel2
            // 
            this.buttonTestBeamModel2.Location = new System.Drawing.Point(108, 45);
            this.buttonTestBeamModel2.Name = "buttonTestBeamModel2";
            this.buttonTestBeamModel2.Size = new System.Drawing.Size(75, 23);
            this.buttonTestBeamModel2.TabIndex = 4;
            this.buttonTestBeamModel2.Text = "Test";
            this.buttonTestBeamModel2.UseVisualStyleBackColor = true;
            this.buttonTestBeamModel2.Click += new System.EventHandler(this.buttonTestBeamModel_Click);
            // 
            // textBoxBeamModelDistance
            // 
            this.textBoxBeamModelDistance.Location = new System.Drawing.Point(113, 19);
            this.textBoxBeamModelDistance.Name = "textBoxBeamModelDistance";
            this.textBoxBeamModelDistance.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamModelDistance.TabIndex = 1;
            this.textBoxBeamModelDistance.Text = "140";
            // 
            // label6
            // 
            this.label6.AutoSize = true;
            this.label6.Location = new System.Drawing.Point(19, 22);
            this.label6.Name = "label6";
            this.label6.Size = new System.Drawing.Size(72, 13);
            this.label6.TabIndex = 3;
            this.label6.Text = "Distance (cm)";
            // 
            // label109
            // 
            this.label109.AutoSize = true;
            this.label109.Location = new System.Drawing.Point(120, 586);
            this.label109.Name = "label109";
            this.label109.Size = new System.Drawing.Size(237, 13);
            this.label109.TabIndex = 11;
            this.label109.Text = "Test the EM of the params - Console output only.";
            // 
            // buttonSonarTestLearning
            // 
            this.buttonSonarTestLearning.Location = new System.Drawing.Point(19, 581);
            this.buttonSonarTestLearning.Name = "buttonSonarTestLearning";
            this.buttonSonarTestLearning.Size = new System.Drawing.Size(95, 23);
            this.buttonSonarTestLearning.TabIndex = 9;
            this.buttonSonarTestLearning.Text = "Test Learning";
            this.buttonSonarTestLearning.UseVisualStyleBackColor = true;
            this.buttonSonarTestLearning.Click += new System.EventHandler(this.buttonSonarTestLearning_Click);
            // 
            // label45
            // 
            this.label45.AutoSize = true;
            this.label45.Location = new System.Drawing.Point(228, 21);
            this.label45.Name = "label45";
            this.label45.Size = new System.Drawing.Size(66, 13);
            this.label45.TabIndex = 8;
            this.label45.Text = "Beam Model";
            // 
            // groupBox11
            // 
            this.groupBox11.Controls.Add(this.label49);
            this.groupBox11.Controls.Add(this.buttonBeamModelSave);
            this.groupBox11.Controls.Add(this.label39);
            this.groupBox11.Controls.Add(this.label41);
            this.groupBox11.Controls.Add(this.label34);
            this.groupBox11.Controls.Add(this.label37);
            this.groupBox11.Controls.Add(this.label32);
            this.groupBox11.Controls.Add(this.textBoxBeamMixMax);
            this.groupBox11.Controls.Add(this.textBoxBeamShortDecay);
            this.groupBox11.Controls.Add(this.textBoxBeamMixRandom);
            this.groupBox11.Controls.Add(this.textBoxBeamHitVariance);
            this.groupBox11.Controls.Add(this.label36);
            this.groupBox11.Controls.Add(this.label33);
            this.groupBox11.Controls.Add(this.textBoxBeamMixHit);
            this.groupBox11.Controls.Add(this.textBoxBeamMaxRange);
            this.groupBox11.Controls.Add(this.label35);
            this.groupBox11.Controls.Add(this.textBoxBeamMixShort);
            this.groupBox11.Location = new System.Drawing.Point(19, 23);
            this.groupBox11.Name = "groupBox11";
            this.groupBox11.Size = new System.Drawing.Size(200, 330);
            this.groupBox11.TabIndex = 1;
            this.groupBox11.TabStop = false;
            this.groupBox11.Text = "Beam Model";
            // 
            // label49
            // 
            this.label49.Location = new System.Drawing.Point(14, 20);
            this.label49.Name = "label49";
            this.label49.Size = new System.Drawing.Size(179, 52);
            this.label49.TabIndex = 6;
            this.label49.Text = "This is used to estimate the likelyhood of a sensor reading given the range indic" +
                "ated my the map.";
            // 
            // buttonBeamModelSave
            // 
            this.buttonBeamModelSave.Location = new System.Drawing.Point(118, 292);
            this.buttonBeamModelSave.Name = "buttonBeamModelSave";
            this.buttonBeamModelSave.Size = new System.Drawing.Size(70, 23);
            this.buttonBeamModelSave.TabIndex = 5;
            this.buttonBeamModelSave.Text = "Save";
            this.buttonBeamModelSave.UseVisualStyleBackColor = true;
            this.buttonBeamModelSave.Click += new System.EventHandler(this.buttonBeamModelSave_Click);
            // 
            // label39
            // 
            this.label39.AutoSize = true;
            this.label39.Location = new System.Drawing.Point(17, 165);
            this.label39.Name = "label39";
            this.label39.Size = new System.Drawing.Size(120, 13);
            this.label39.TabIndex = 4;
            this.label39.Text = "Error Mix: Must sum to 1";
            // 
            // label41
            // 
            this.label41.AutoSize = true;
            this.label41.Location = new System.Drawing.Point(19, 268);
            this.label41.Name = "label41";
            this.label41.Size = new System.Drawing.Size(27, 13);
            this.label41.TabIndex = 3;
            this.label41.Text = "Max";
            // 
            // label34
            // 
            this.label34.AutoSize = true;
            this.label34.Location = new System.Drawing.Point(19, 129);
            this.label34.Name = "label34";
            this.label34.Size = new System.Drawing.Size(66, 13);
            this.label34.TabIndex = 3;
            this.label34.Text = "Short Decay";
            // 
            // label37
            // 
            this.label37.AutoSize = true;
            this.label37.Location = new System.Drawing.Point(19, 239);
            this.label37.Name = "label37";
            this.label37.Size = new System.Drawing.Size(47, 13);
            this.label37.TabIndex = 3;
            this.label37.Text = "Random";
            // 
            // label32
            // 
            this.label32.AutoSize = true;
            this.label32.Location = new System.Drawing.Point(18, 78);
            this.label32.Name = "label32";
            this.label32.Size = new System.Drawing.Size(85, 13);
            this.label32.TabIndex = 2;
            this.label32.Text = "Max Range (cm)";
            // 
            // textBoxBeamMixMax
            // 
            this.textBoxBeamMixMax.Location = new System.Drawing.Point(118, 265);
            this.textBoxBeamMixMax.Name = "textBoxBeamMixMax";
            this.textBoxBeamMixMax.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamMixMax.TabIndex = 1;
            this.textBoxBeamMixMax.Text = "0.0";
            // 
            // textBoxBeamShortDecay
            // 
            this.textBoxBeamShortDecay.Location = new System.Drawing.Point(118, 129);
            this.textBoxBeamShortDecay.Name = "textBoxBeamShortDecay";
            this.textBoxBeamShortDecay.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamShortDecay.TabIndex = 1;
            this.textBoxBeamShortDecay.Text = "0.01";
            // 
            // textBoxBeamMixRandom
            // 
            this.textBoxBeamMixRandom.Location = new System.Drawing.Point(118, 239);
            this.textBoxBeamMixRandom.Name = "textBoxBeamMixRandom";
            this.textBoxBeamMixRandom.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamMixRandom.TabIndex = 1;
            this.textBoxBeamMixRandom.Text = "0.2";
            // 
            // textBoxBeamHitVariance
            // 
            this.textBoxBeamHitVariance.Location = new System.Drawing.Point(118, 103);
            this.textBoxBeamHitVariance.Name = "textBoxBeamHitVariance";
            this.textBoxBeamHitVariance.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamHitVariance.TabIndex = 1;
            this.textBoxBeamHitVariance.Text = "300";
            // 
            // label36
            // 
            this.label36.AutoSize = true;
            this.label36.Location = new System.Drawing.Point(18, 188);
            this.label36.Name = "label36";
            this.label36.Size = new System.Drawing.Size(20, 13);
            this.label36.TabIndex = 2;
            this.label36.Text = "Hit";
            // 
            // label33
            // 
            this.label33.AutoSize = true;
            this.label33.Location = new System.Drawing.Point(19, 104);
            this.label33.Name = "label33";
            this.label33.Size = new System.Drawing.Size(65, 13);
            this.label33.TabIndex = 3;
            this.label33.Text = "Hit Variance";
            // 
            // textBoxBeamMixHit
            // 
            this.textBoxBeamMixHit.Location = new System.Drawing.Point(118, 185);
            this.textBoxBeamMixHit.Name = "textBoxBeamMixHit";
            this.textBoxBeamMixHit.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamMixHit.TabIndex = 0;
            this.textBoxBeamMixHit.Text = "0.6";
            // 
            // textBoxBeamMaxRange
            // 
            this.textBoxBeamMaxRange.Location = new System.Drawing.Point(118, 75);
            this.textBoxBeamMaxRange.Name = "textBoxBeamMaxRange";
            this.textBoxBeamMaxRange.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamMaxRange.TabIndex = 0;
            this.textBoxBeamMaxRange.Text = "200";
            // 
            // label35
            // 
            this.label35.AutoSize = true;
            this.label35.Location = new System.Drawing.Point(19, 214);
            this.label35.Name = "label35";
            this.label35.Size = new System.Drawing.Size(32, 13);
            this.label35.TabIndex = 3;
            this.label35.Text = "Short";
            // 
            // textBoxBeamMixShort
            // 
            this.textBoxBeamMixShort.Location = new System.Drawing.Point(118, 213);
            this.textBoxBeamMixShort.Name = "textBoxBeamMixShort";
            this.textBoxBeamMixShort.Size = new System.Drawing.Size(70, 20);
            this.textBoxBeamMixShort.TabIndex = 1;
            this.textBoxBeamMixShort.Text = "0.2";
            // 
            // pictureBoxBeamModel
            // 
            this.pictureBoxBeamModel.BackColor = System.Drawing.Color.White;
            this.pictureBoxBeamModel.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxBeamModel.Location = new System.Drawing.Point(231, 38);
            this.pictureBoxBeamModel.Name = "pictureBoxBeamModel";
            this.pictureBoxBeamModel.Size = new System.Drawing.Size(521, 327);
            this.pictureBoxBeamModel.TabIndex = 0;
            this.pictureBoxBeamModel.TabStop = false;
            // 
            // tabPageMotionModel
            // 
            this.tabPageMotionModel.Controls.Add(this.labelDebug);
            this.tabPageMotionModel.Controls.Add(this.groupBox18);
            this.tabPageMotionModel.Controls.Add(this.groupBox8);
            this.tabPageMotionModel.Controls.Add(this.groupBox14);
            this.tabPageMotionModel.Controls.Add(this.groupBox7);
            this.tabPageMotionModel.Controls.Add(this.groupBox10);
            this.tabPageMotionModel.Controls.Add(this.groupBox6);
            this.tabPageMotionModel.Controls.Add(this.groupBox9);
            this.tabPageMotionModel.Controls.Add(this.pictureBox1);
            this.tabPageMotionModel.Controls.Add(this.groupBox5);
            this.tabPageMotionModel.Controls.Add(this.pictureBox2);
            this.tabPageMotionModel.Location = new System.Drawing.Point(4, 22);
            this.tabPageMotionModel.Name = "tabPageMotionModel";
            this.tabPageMotionModel.Padding = new System.Windows.Forms.Padding(3);
            this.tabPageMotionModel.Size = new System.Drawing.Size(797, 573);
            this.tabPageMotionModel.TabIndex = 1;
            this.tabPageMotionModel.Text = "Velocity Motion Model";
            this.tabPageMotionModel.UseVisualStyleBackColor = true;
            this.tabPageMotionModel.Click += new System.EventHandler(this.tabPageMotionModel_Click);
            // 
            // labelDebug
            // 
            this.labelDebug.AutoSize = true;
            this.labelDebug.Location = new System.Drawing.Point(21, 496);
            this.labelDebug.Name = "labelDebug";
            this.labelDebug.Size = new System.Drawing.Size(0, 13);
            this.labelDebug.TabIndex = 7;
            // 
            // groupBox8
            // 
            this.groupBox8.Controls.Add(this.checkBoxMotionModelResample);
            this.groupBox8.Controls.Add(this.label93);
            this.groupBox8.Controls.Add(this.buttonClear);
            this.groupBox8.Controls.Add(this.button1);
            this.groupBox8.Controls.Add(this.textBoxParticles);
            this.groupBox8.Controls.Add(this.textBoxSeconds);
            this.groupBox8.Controls.Add(this.label23);
            this.groupBox8.Controls.Add(this.label22);
            this.groupBox8.Location = new System.Drawing.Point(24, 360);
            this.groupBox8.Name = "groupBox8";
            this.groupBox8.Size = new System.Drawing.Size(200, 133);
            this.groupBox8.TabIndex = 6;
            this.groupBox8.TabStop = false;
            this.groupBox8.Text = "Iterate";
            // 
            // checkBoxMotionModelResample
            // 
            this.checkBoxMotionModelResample.AutoSize = true;
            this.checkBoxMotionModelResample.Checked = true;
            this.checkBoxMotionModelResample.CheckState = System.Windows.Forms.CheckState.Checked;
            this.checkBoxMotionModelResample.Location = new System.Drawing.Point(110, 31);
            this.checkBoxMotionModelResample.Name = "checkBoxMotionModelResample";
            this.checkBoxMotionModelResample.Size = new System.Drawing.Size(73, 17);
            this.checkBoxMotionModelResample.TabIndex = 11;
            this.checkBoxMotionModelResample.Text = "Resample";
            this.checkBoxMotionModelResample.UseVisualStyleBackColor = true;
            // 
            // label93
            // 
            this.label93.Location = new System.Drawing.Point(5, 16);
            this.label93.Name = "label93";
            this.label93.Size = new System.Drawing.Size(140, 19);
            this.label93.TabIndex = 9;
            this.label93.Text = "Hit step a few times.";
            // 
            // buttonClear
            // 
            this.buttonClear.Location = new System.Drawing.Point(21, 104);
            this.buttonClear.Name = "buttonClear";
            this.buttonClear.Size = new System.Drawing.Size(75, 23);
            this.buttonClear.TabIndex = 8;
            this.buttonClear.Text = "Clear";
            this.buttonClear.UseVisualStyleBackColor = true;
            this.buttonClear.Click += new System.EventHandler(this.buttonClear_Click);
            // 
            // button1
            // 
            this.button1.Location = new System.Drawing.Point(103, 104);
            this.button1.Name = "button1";
            this.button1.Size = new System.Drawing.Size(75, 23);
            this.button1.TabIndex = 4;
            this.button1.Text = "Step";
            this.button1.UseVisualStyleBackColor = true;
            this.button1.Click += new System.EventHandler(this.button1_Click);
            // 
            // textBoxParticles
            // 
            this.textBoxParticles.Location = new System.Drawing.Point(78, 78);
            this.textBoxParticles.Name = "textBoxParticles";
            this.textBoxParticles.Size = new System.Drawing.Size(100, 20);
            this.textBoxParticles.TabIndex = 1;
            this.textBoxParticles.Text = "500";
            // 
            // textBoxSeconds
            // 
            this.textBoxSeconds.Location = new System.Drawing.Point(78, 51);
            this.textBoxSeconds.Name = "textBoxSeconds";
            this.textBoxSeconds.Size = new System.Drawing.Size(100, 20);
            this.textBoxSeconds.TabIndex = 1;
            this.textBoxSeconds.Text = "1";
            // 
            // label23
            // 
            this.label23.AutoSize = true;
            this.label23.Location = new System.Drawing.Point(26, 81);
            this.label23.Name = "label23";
            this.label23.Size = new System.Drawing.Size(47, 13);
            this.label23.TabIndex = 2;
            this.label23.Text = "Particles";
            // 
            // label22
            // 
            this.label22.AutoSize = true;
            this.label22.Location = new System.Drawing.Point(26, 54);
            this.label22.Name = "label22";
            this.label22.Size = new System.Drawing.Size(49, 13);
            this.label22.TabIndex = 2;
            this.label22.Text = "Seconds";
            // 
            // groupBox7
            // 
            this.groupBox7.Controls.Add(this.buttonVelocityMotionModelSave);
            this.groupBox7.Controls.Add(this.textBoxRerr3);
            this.groupBox7.Controls.Add(this.label21);
            this.groupBox7.Controls.Add(this.textBoxVerr3);
            this.groupBox7.Controls.Add(this.label20);
            this.groupBox7.Controls.Add(this.label18);
            this.groupBox7.Controls.Add(this.textBoxRerr2);
            this.groupBox7.Controls.Add(this.label14);
            this.groupBox7.Controls.Add(this.textBoxRerr1);
            this.groupBox7.Controls.Add(this.textBoxVerr2);
            this.groupBox7.Controls.Add(this.label19);
            this.groupBox7.Controls.Add(this.textBoxVerr1);
            this.groupBox7.Controls.Add(this.label17);
            this.groupBox7.Location = new System.Drawing.Point(24, 213);
            this.groupBox7.Name = "groupBox7";
            this.groupBox7.Size = new System.Drawing.Size(200, 141);
            this.groupBox7.TabIndex = 5;
            this.groupBox7.TabStop = false;
            this.groupBox7.Text = "Velocity Model Errors";
            // 
            // buttonVelocityMotionModelSave
            // 
            this.buttonVelocityMotionModelSave.Location = new System.Drawing.Point(104, 103);
            this.buttonVelocityMotionModelSave.Name = "buttonVelocityMotionModelSave";
            this.buttonVelocityMotionModelSave.Size = new System.Drawing.Size(75, 23);
            this.buttonVelocityMotionModelSave.TabIndex = 3;
            this.buttonVelocityMotionModelSave.Text = "Save";
            this.buttonVelocityMotionModelSave.UseVisualStyleBackColor = true;
            this.buttonVelocityMotionModelSave.Click += new System.EventHandler(this.buttonVelocityMotionModelSave_Click);
            // 
            // textBoxRerr3
            // 
            this.textBoxRerr3.Location = new System.Drawing.Point(136, 77);
            this.textBoxRerr3.Name = "textBoxRerr3";
            this.textBoxRerr3.Size = new System.Drawing.Size(56, 20);
            this.textBoxRerr3.TabIndex = 1;
            this.textBoxRerr3.Text = "0.000001";
            // 
            // label21
            // 
            this.label21.AutoSize = true;
            this.label21.Location = new System.Drawing.Point(98, 80);
            this.label21.Name = "label21";
            this.label21.Size = new System.Drawing.Size(33, 13);
            this.label21.TabIndex = 2;
            this.label21.Text = "Rerr3";
            // 
            // textBoxVerr3
            // 
            this.textBoxVerr3.Location = new System.Drawing.Point(46, 74);
            this.textBoxVerr3.Name = "textBoxVerr3";
            this.textBoxVerr3.Size = new System.Drawing.Size(48, 20);
            this.textBoxVerr3.TabIndex = 1;
            this.textBoxVerr3.Text = "0.00001";
            // 
            // label20
            // 
            this.label20.AutoSize = true;
            this.label20.Location = new System.Drawing.Point(98, 28);
            this.label20.Name = "label20";
            this.label20.Size = new System.Drawing.Size(33, 13);
            this.label20.TabIndex = 2;
            this.label20.Text = "Rerr1";
            // 
            // label18
            // 
            this.label18.AutoSize = true;
            this.label18.Location = new System.Drawing.Point(8, 77);
            this.label18.Name = "label18";
            this.label18.Size = new System.Drawing.Size(32, 13);
            this.label18.TabIndex = 2;
            this.label18.Text = "Verr3";
            // 
            // textBoxRerr2
            // 
            this.textBoxRerr2.Location = new System.Drawing.Point(136, 51);
            this.textBoxRerr2.Name = "textBoxRerr2";
            this.textBoxRerr2.Size = new System.Drawing.Size(56, 20);
            this.textBoxRerr2.TabIndex = 1;
            this.textBoxRerr2.Text = "0.000001";
            // 
            // label14
            // 
            this.label14.AutoSize = true;
            this.label14.Location = new System.Drawing.Point(8, 25);
            this.label14.Name = "label14";
            this.label14.Size = new System.Drawing.Size(32, 13);
            this.label14.TabIndex = 2;
            this.label14.Text = "Verr1";
            // 
            // textBoxRerr1
            // 
            this.textBoxRerr1.Location = new System.Drawing.Point(136, 25);
            this.textBoxRerr1.Name = "textBoxRerr1";
            this.textBoxRerr1.Size = new System.Drawing.Size(56, 20);
            this.textBoxRerr1.TabIndex = 1;
            this.textBoxRerr1.Text = "0.000001";
            // 
            // textBoxVerr2
            // 
            this.textBoxVerr2.Location = new System.Drawing.Point(46, 48);
            this.textBoxVerr2.Name = "textBoxVerr2";
            this.textBoxVerr2.Size = new System.Drawing.Size(48, 20);
            this.textBoxVerr2.TabIndex = 1;
            this.textBoxVerr2.Text = "0.00001";
            // 
            // label19
            // 
            this.label19.AutoSize = true;
            this.label19.Location = new System.Drawing.Point(98, 54);
            this.label19.Name = "label19";
            this.label19.Size = new System.Drawing.Size(33, 13);
            this.label19.TabIndex = 2;
            this.label19.Text = "Rerr2";
            // 
            // textBoxVerr1
            // 
            this.textBoxVerr1.Location = new System.Drawing.Point(46, 22);
            this.textBoxVerr1.Name = "textBoxVerr1";
            this.textBoxVerr1.Size = new System.Drawing.Size(48, 20);
            this.textBoxVerr1.TabIndex = 1;
            this.textBoxVerr1.Text = "0.04";
            // 
            // label17
            // 
            this.label17.AutoSize = true;
            this.label17.Location = new System.Drawing.Point(8, 51);
            this.label17.Name = "label17";
            this.label17.Size = new System.Drawing.Size(32, 13);
            this.label17.TabIndex = 2;
            this.label17.Text = "Verr2";
            // 
            // groupBox6
            // 
            this.groupBox6.Controls.Add(this.textBoxW);
            this.groupBox6.Controls.Add(this.label15);
            this.groupBox6.Controls.Add(this.textBoxV);
            this.groupBox6.Controls.Add(this.label16);
            this.groupBox6.Location = new System.Drawing.Point(24, 127);
            this.groupBox6.Name = "groupBox6";
            this.groupBox6.Size = new System.Drawing.Size(200, 80);
            this.groupBox6.TabIndex = 3;
            this.groupBox6.TabStop = false;
            this.groupBox6.Text = "Velocity";
            // 
            // textBoxW
            // 
            this.textBoxW.Location = new System.Drawing.Point(79, 45);
            this.textBoxW.Name = "textBoxW";
            this.textBoxW.Size = new System.Drawing.Size(100, 20);
            this.textBoxW.TabIndex = 1;
            this.textBoxW.Text = "0";
            // 
            // label15
            // 
            this.label15.AutoSize = true;
            this.label15.Location = new System.Drawing.Point(12, 47);
            this.label15.Name = "label15";
            this.label15.Size = new System.Drawing.Size(47, 13);
            this.label15.TabIndex = 2;
            this.label15.Text = "W (rads)";
            // 
            // textBoxV
            // 
            this.textBoxV.Location = new System.Drawing.Point(79, 19);
            this.textBoxV.Name = "textBoxV";
            this.textBoxV.Size = new System.Drawing.Size(100, 20);
            this.textBoxV.TabIndex = 1;
            this.textBoxV.Text = "30";
            // 
            // label16
            // 
            this.label16.AutoSize = true;
            this.label16.Location = new System.Drawing.Point(12, 21);
            this.label16.Name = "label16";
            this.label16.Size = new System.Drawing.Size(47, 13);
            this.label16.TabIndex = 2;
            this.label16.Text = "V (cm/s)";
            // 
            // groupBox5
            // 
            this.groupBox5.Controls.Add(this.textBoxTheta);
            this.groupBox5.Controls.Add(this.label13);
            this.groupBox5.Controls.Add(this.textBoxY);
            this.groupBox5.Controls.Add(this.label12);
            this.groupBox5.Controls.Add(this.textBoxX);
            this.groupBox5.Controls.Add(this.label11);
            this.groupBox5.Location = new System.Drawing.Point(24, 21);
            this.groupBox5.Name = "groupBox5";
            this.groupBox5.Size = new System.Drawing.Size(200, 100);
            this.groupBox5.TabIndex = 3;
            this.groupBox5.TabStop = false;
            this.groupBox5.Text = "Initial State";
            // 
            // textBoxTheta
            // 
            this.textBoxTheta.Location = new System.Drawing.Point(79, 71);
            this.textBoxTheta.Name = "textBoxTheta";
            this.textBoxTheta.Size = new System.Drawing.Size(100, 20);
            this.textBoxTheta.TabIndex = 1;
            this.textBoxTheta.Text = "0";
            // 
            // label13
            // 
            this.label13.AutoSize = true;
            this.label13.Location = new System.Drawing.Point(12, 73);
            this.label13.Name = "label13";
            this.label13.Size = new System.Drawing.Size(64, 13);
            this.label13.TabIndex = 2;
            this.label13.Text = "Theta (rads)";
            // 
            // textBoxY
            // 
            this.textBoxY.Location = new System.Drawing.Point(79, 45);
            this.textBoxY.Name = "textBoxY";
            this.textBoxY.Size = new System.Drawing.Size(100, 20);
            this.textBoxY.TabIndex = 1;
            this.textBoxY.Text = "100";
            // 
            // label12
            // 
            this.label12.AutoSize = true;
            this.label12.Location = new System.Drawing.Point(12, 47);
            this.label12.Name = "label12";
            this.label12.Size = new System.Drawing.Size(14, 13);
            this.label12.TabIndex = 2;
            this.label12.Text = "Y";
            // 
            // textBoxX
            // 
            this.textBoxX.Location = new System.Drawing.Point(79, 19);
            this.textBoxX.Name = "textBoxX";
            this.textBoxX.Size = new System.Drawing.Size(100, 20);
            this.textBoxX.TabIndex = 1;
            this.textBoxX.Text = "100";
            // 
            // label11
            // 
            this.label11.AutoSize = true;
            this.label11.Location = new System.Drawing.Point(12, 21);
            this.label11.Name = "label11";
            this.label11.Size = new System.Drawing.Size(14, 13);
            this.label11.TabIndex = 2;
            this.label11.Text = "X";
            // 
            // pictureBox2
            // 
            this.pictureBox2.BackColor = System.Drawing.Color.White;
            this.pictureBox2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBox2.Location = new System.Drawing.Point(242, 21);
            this.pictureBox2.Name = "pictureBox2";
            this.pictureBox2.Size = new System.Drawing.Size(532, 472);
            this.pictureBox2.TabIndex = 0;
            this.pictureBox2.TabStop = false;
            // 
            // tabPageRobot
            // 
            this.tabPageRobot.Controls.Add(this.label111);
            this.tabPageRobot.Controls.Add(this.label74);
            this.tabPageRobot.Controls.Add(this.comboBoxNavigator);
            this.tabPageRobot.Controls.Add(this.label78);
            this.tabPageRobot.Controls.Add(this.labelRobotResultVelocity);
            this.tabPageRobot.Controls.Add(this.groupBox17);
            this.tabPageRobot.Controls.Add(this.groupBox16);
            this.tabPageRobot.Controls.Add(this.groupBox12);
            this.tabPageRobot.Controls.Add(this.pictureBoxRobotTest);
            this.tabPageRobot.Location = new System.Drawing.Point(4, 22);
            this.tabPageRobot.Name = "tabPageRobot";
            this.tabPageRobot.Padding = new System.Windows.Forms.Padding(3);
            this.tabPageRobot.Size = new System.Drawing.Size(797, 573);
            this.tabPageRobot.TabIndex = 6;
            this.tabPageRobot.Text = "Robot";
            this.tabPageRobot.UseVisualStyleBackColor = true;
            // 
            // label111
            // 
            this.label111.Location = new System.Drawing.Point(603, 453);
            this.label111.Name = "label111";
            this.label111.Size = new System.Drawing.Size(168, 45);
            this.label111.TabIndex = 13;
            this.label111.Text = "The Navigator drop down has no effect - Allways using the VFH.\r\n";
            // 
            // label74
            // 
            this.label74.AutoSize = true;
            this.label74.Location = new System.Drawing.Point(291, 460);
            this.label74.Name = "label74";
            this.label74.Size = new System.Drawing.Size(56, 13);
            this.label74.TabIndex = 11;
            this.label74.Text = "Navigator:";
            // 
            // comboBoxNavigator
            // 
            this.comboBoxNavigator.FormattingEnabled = true;
            this.comboBoxNavigator.Items.AddRange(new object[] {
            "Simple Obstacle Avoidance",
            "Vector Field Histograms"});
            this.comboBoxNavigator.Location = new System.Drawing.Point(371, 457);
            this.comboBoxNavigator.Name = "comboBoxNavigator";
            this.comboBoxNavigator.Size = new System.Drawing.Size(207, 21);
            this.comboBoxNavigator.TabIndex = 10;
            this.comboBoxNavigator.SelectedIndexChanged += new System.EventHandler(this.comboBoxNavigator_SelectedIndexChanged);
            // 
            // label78
            // 
            this.label78.Location = new System.Drawing.Point(291, 360);
            this.label78.Name = "label78";
            this.label78.Size = new System.Drawing.Size(182, 108);
            this.label78.TabIndex = 9;
            this.label78.Text = "This shows an attempt by the robot to move straight ahead at max speed. If an obs" +
                "tacle is found it will attempt to turn for longer, then sharper. No speed change" +
                "s are attempted.";
            // 
            // labelRobotResultVelocity
            // 
            this.labelRobotResultVelocity.AutoSize = true;
            this.labelRobotResultVelocity.Location = new System.Drawing.Point(497, 360);
            this.labelRobotResultVelocity.Name = "labelRobotResultVelocity";
            this.labelRobotResultVelocity.Size = new System.Drawing.Size(95, 13);
            this.labelRobotResultVelocity.TabIndex = 8;
            this.labelRobotResultVelocity.Text = "Resultant Velocity:";
            // 
            // groupBox17
            // 
            this.groupBox17.Controls.Add(this.buttonRobotTestContraints);
            this.groupBox17.Controls.Add(this.textBoxRobotObstacleSize);
            this.groupBox17.Controls.Add(this.textBoxRobotObstacleDistance);
            this.groupBox17.Controls.Add(this.label71);
            this.groupBox17.Controls.Add(this.label69);
            this.groupBox17.Location = new System.Drawing.Point(34, 405);
            this.groupBox17.Name = "groupBox17";
            this.groupBox17.Size = new System.Drawing.Size(226, 110);
            this.groupBox17.TabIndex = 7;
            this.groupBox17.TabStop = false;
            this.groupBox17.Text = "Test Avoidance";
            // 
            // buttonRobotTestContraints
            // 
            this.buttonRobotTestContraints.Location = new System.Drawing.Point(145, 77);
            this.buttonRobotTestContraints.Name = "buttonRobotTestContraints";
            this.buttonRobotTestContraints.Size = new System.Drawing.Size(70, 23);
            this.buttonRobotTestContraints.TabIndex = 3;
            this.buttonRobotTestContraints.Text = "Test";
            this.buttonRobotTestContraints.UseVisualStyleBackColor = true;
            this.buttonRobotTestContraints.Click += new System.EventHandler(this.buttonRobotTestContraints_Click);
            // 
            // textBoxRobotObstacleSize
            // 
            this.textBoxRobotObstacleSize.Location = new System.Drawing.Point(111, 48);
            this.textBoxRobotObstacleSize.Name = "textBoxRobotObstacleSize";
            this.textBoxRobotObstacleSize.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotObstacleSize.TabIndex = 0;
            this.textBoxRobotObstacleSize.Text = "50";
            // 
            // textBoxRobotObstacleDistance
            // 
            this.textBoxRobotObstacleDistance.Location = new System.Drawing.Point(111, 22);
            this.textBoxRobotObstacleDistance.Name = "textBoxRobotObstacleDistance";
            this.textBoxRobotObstacleDistance.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotObstacleDistance.TabIndex = 0;
            this.textBoxRobotObstacleDistance.Text = "190";
            // 
            // label71
            // 
            this.label71.AutoSize = true;
            this.label71.Location = new System.Drawing.Point(14, 50);
            this.label71.Name = "label71";
            this.label71.Size = new System.Drawing.Size(72, 13);
            this.label71.TabIndex = 1;
            this.label71.Text = "Obstacle Size";
            // 
            // label69
            // 
            this.label69.AutoSize = true;
            this.label69.Location = new System.Drawing.Point(18, 25);
            this.label69.Name = "label69";
            this.label69.Size = new System.Drawing.Size(70, 13);
            this.label69.TabIndex = 1;
            this.label69.Text = "Obstacle Dist";
            // 
            // groupBox16
            // 
            this.groupBox16.Controls.Add(this.buttonObstacleAvoidanceSave);
            this.groupBox16.Controls.Add(this.textBoxRobotObstacleAvoidanceAngleStep);
            this.groupBox16.Controls.Add(this.textBoxRobotObstacleClearance);
            this.groupBox16.Controls.Add(this.label95);
            this.groupBox16.Controls.Add(this.textBoxLookAhead);
            this.groupBox16.Controls.Add(this.label70);
            this.groupBox16.Controls.Add(this.label72);
            this.groupBox16.Location = new System.Drawing.Point(34, 254);
            this.groupBox16.Name = "groupBox16";
            this.groupBox16.Size = new System.Drawing.Size(226, 145);
            this.groupBox16.TabIndex = 6;
            this.groupBox16.TabStop = false;
            this.groupBox16.Text = "Simple Obstacle Avoidance";
            // 
            // buttonObstacleAvoidanceSave
            // 
            this.buttonObstacleAvoidanceSave.Location = new System.Drawing.Point(111, 116);
            this.buttonObstacleAvoidanceSave.Name = "buttonObstacleAvoidanceSave";
            this.buttonObstacleAvoidanceSave.Size = new System.Drawing.Size(100, 23);
            this.buttonObstacleAvoidanceSave.TabIndex = 5;
            this.buttonObstacleAvoidanceSave.Text = "Save";
            this.buttonObstacleAvoidanceSave.UseVisualStyleBackColor = true;
            this.buttonObstacleAvoidanceSave.Click += new System.EventHandler(this.buttonObstacleAvoidanceSave_Click);
            // 
            // textBoxRobotObstacleAvoidanceAngleStep
            // 
            this.textBoxRobotObstacleAvoidanceAngleStep.Location = new System.Drawing.Point(110, 80);
            this.textBoxRobotObstacleAvoidanceAngleStep.Name = "textBoxRobotObstacleAvoidanceAngleStep";
            this.textBoxRobotObstacleAvoidanceAngleStep.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotObstacleAvoidanceAngleStep.TabIndex = 0;
            this.textBoxRobotObstacleAvoidanceAngleStep.Text = "0.05";
            // 
            // textBoxRobotObstacleClearance
            // 
            this.textBoxRobotObstacleClearance.Location = new System.Drawing.Point(110, 54);
            this.textBoxRobotObstacleClearance.Name = "textBoxRobotObstacleClearance";
            this.textBoxRobotObstacleClearance.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotObstacleClearance.TabIndex = 0;
            this.textBoxRobotObstacleClearance.Text = "20";
            // 
            // label95
            // 
            this.label95.AutoSize = true;
            this.label95.Location = new System.Drawing.Point(15, 83);
            this.label95.Name = "label95";
            this.label95.Size = new System.Drawing.Size(59, 13);
            this.label95.TabIndex = 1;
            this.label95.Text = "Angle Step";
            // 
            // textBoxLookAhead
            // 
            this.textBoxLookAhead.Location = new System.Drawing.Point(110, 28);
            this.textBoxLookAhead.Name = "textBoxLookAhead";
            this.textBoxLookAhead.Size = new System.Drawing.Size(100, 20);
            this.textBoxLookAhead.TabIndex = 4;
            this.textBoxLookAhead.Text = "240";
            // 
            // label70
            // 
            this.label70.AutoSize = true;
            this.label70.Location = new System.Drawing.Point(15, 57);
            this.label70.Name = "label70";
            this.label70.Size = new System.Drawing.Size(55, 13);
            this.label70.TabIndex = 1;
            this.label70.Text = "Clearance";
            // 
            // label72
            // 
            this.label72.AutoSize = true;
            this.label72.Location = new System.Drawing.Point(12, 28);
            this.label72.Name = "label72";
            this.label72.Size = new System.Drawing.Size(65, 13);
            this.label72.TabIndex = 1;
            this.label72.Text = "Look Ahead";
            // 
            // groupBox12
            // 
            this.groupBox12.Controls.Add(this.buttonRobotSave);
            this.groupBox12.Controls.Add(this.label63);
            this.groupBox12.Controls.Add(this.textBoxRobotMaxSpeed);
            this.groupBox12.Controls.Add(this.textBoxRobotMaxTurn);
            this.groupBox12.Controls.Add(this.textBoxRobotMaxTurnAccel);
            this.groupBox12.Controls.Add(this.label65);
            this.groupBox12.Controls.Add(this.textBoxRobotMaxAccel);
            this.groupBox12.Controls.Add(this.label64);
            this.groupBox12.Controls.Add(this.label66);
            this.groupBox12.Controls.Add(this.label68);
            this.groupBox12.Controls.Add(this.textBoxRobotWidth);
            this.groupBox12.Controls.Add(this.label67);
            this.groupBox12.Controls.Add(this.textBoxRobotLength);
            this.groupBox12.Location = new System.Drawing.Point(34, 20);
            this.groupBox12.Name = "groupBox12";
            this.groupBox12.Size = new System.Drawing.Size(226, 228);
            this.groupBox12.TabIndex = 5;
            this.groupBox12.TabStop = false;
            this.groupBox12.Text = "Robot Definition";
            // 
            // buttonRobotSave
            // 
            this.buttonRobotSave.Location = new System.Drawing.Point(110, 192);
            this.buttonRobotSave.Name = "buttonRobotSave";
            this.buttonRobotSave.Size = new System.Drawing.Size(100, 23);
            this.buttonRobotSave.TabIndex = 5;
            this.buttonRobotSave.Text = "Save";
            this.buttonRobotSave.UseVisualStyleBackColor = true;
            this.buttonRobotSave.Click += new System.EventHandler(this.buttonRobotSave_Click);
            // 
            // label63
            // 
            this.label63.AutoSize = true;
            this.label63.Location = new System.Drawing.Point(15, 90);
            this.label63.Name = "label63";
            this.label63.Size = new System.Drawing.Size(61, 13);
            this.label63.TabIndex = 1;
            this.label63.Text = "Max Speed";
            // 
            // textBoxRobotMaxSpeed
            // 
            this.textBoxRobotMaxSpeed.Location = new System.Drawing.Point(110, 87);
            this.textBoxRobotMaxSpeed.Name = "textBoxRobotMaxSpeed";
            this.textBoxRobotMaxSpeed.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotMaxSpeed.TabIndex = 0;
            this.textBoxRobotMaxSpeed.Text = "40";
            // 
            // textBoxRobotMaxTurn
            // 
            this.textBoxRobotMaxTurn.Location = new System.Drawing.Point(110, 140);
            this.textBoxRobotMaxTurn.Name = "textBoxRobotMaxTurn";
            this.textBoxRobotMaxTurn.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotMaxTurn.TabIndex = 0;
            this.textBoxRobotMaxTurn.Text = "2";
            // 
            // textBoxRobotMaxTurnAccel
            // 
            this.textBoxRobotMaxTurnAccel.Location = new System.Drawing.Point(110, 166);
            this.textBoxRobotMaxTurnAccel.Name = "textBoxRobotMaxTurnAccel";
            this.textBoxRobotMaxTurnAccel.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotMaxTurnAccel.TabIndex = 0;
            this.textBoxRobotMaxTurnAccel.Text = "0.2";
            // 
            // label65
            // 
            this.label65.AutoSize = true;
            this.label65.Location = new System.Drawing.Point(15, 116);
            this.label65.Name = "label65";
            this.label65.Size = new System.Drawing.Size(71, 13);
            this.label65.TabIndex = 1;
            this.label65.Text = "Max Speed/s";
            // 
            // textBoxRobotMaxAccel
            // 
            this.textBoxRobotMaxAccel.Location = new System.Drawing.Point(110, 113);
            this.textBoxRobotMaxAccel.Name = "textBoxRobotMaxAccel";
            this.textBoxRobotMaxAccel.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotMaxAccel.TabIndex = 0;
            this.textBoxRobotMaxAccel.Text = "10";
            // 
            // label64
            // 
            this.label64.AutoSize = true;
            this.label64.Location = new System.Drawing.Point(15, 143);
            this.label64.Name = "label64";
            this.label64.Size = new System.Drawing.Size(52, 13);
            this.label64.TabIndex = 1;
            this.label64.Text = "Max Turn";
            // 
            // label66
            // 
            this.label66.AutoSize = true;
            this.label66.Location = new System.Drawing.Point(15, 169);
            this.label66.Name = "label66";
            this.label66.Size = new System.Drawing.Size(62, 13);
            this.label66.TabIndex = 1;
            this.label66.Text = "Max Turn/s";
            // 
            // label68
            // 
            this.label68.AutoSize = true;
            this.label68.Location = new System.Drawing.Point(15, 53);
            this.label68.Name = "label68";
            this.label68.Size = new System.Drawing.Size(40, 13);
            this.label68.TabIndex = 1;
            this.label68.Text = "Length";
            // 
            // textBoxRobotWidth
            // 
            this.textBoxRobotWidth.Location = new System.Drawing.Point(110, 24);
            this.textBoxRobotWidth.Name = "textBoxRobotWidth";
            this.textBoxRobotWidth.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotWidth.TabIndex = 0;
            this.textBoxRobotWidth.Text = "30";
            // 
            // label67
            // 
            this.label67.AutoSize = true;
            this.label67.Location = new System.Drawing.Point(15, 27);
            this.label67.Name = "label67";
            this.label67.Size = new System.Drawing.Size(35, 13);
            this.label67.TabIndex = 1;
            this.label67.Text = "Width";
            // 
            // textBoxRobotLength
            // 
            this.textBoxRobotLength.Location = new System.Drawing.Point(110, 50);
            this.textBoxRobotLength.Name = "textBoxRobotLength";
            this.textBoxRobotLength.Size = new System.Drawing.Size(100, 20);
            this.textBoxRobotLength.TabIndex = 0;
            this.textBoxRobotLength.Text = "30";
            // 
            // pictureBoxRobotTest
            // 
            this.pictureBoxRobotTest.BackColor = System.Drawing.Color.White;
            this.pictureBoxRobotTest.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxRobotTest.Location = new System.Drawing.Point(294, 20);
            this.pictureBoxRobotTest.Name = "pictureBoxRobotTest";
            this.pictureBoxRobotTest.Size = new System.Drawing.Size(464, 329);
            this.pictureBoxRobotTest.TabIndex = 2;
            this.pictureBoxRobotTest.TabStop = false;
            // 
            // tabPageSLAM
            // 
            this.tabPageSLAM.Controls.Add(this.button3);
            this.tabPageSLAM.Controls.Add(this.buttonSlimSlam);
            this.tabPageSLAM.Controls.Add(this.groupBox3);
            this.tabPageSLAM.Controls.Add(this.GroupBox2);
            this.tabPageSLAM.Controls.Add(this.groupBox1);
            this.tabPageSLAM.Controls.Add(this.checkBoxSaveFramesToDisk);
            this.tabPageSLAM.Controls.Add(this.label110);
            this.tabPageSLAM.Controls.Add(this.label59);
            this.tabPageSLAM.Controls.Add(this.label56);
            this.tabPageSLAM.Controls.Add(this.label55);
            this.tabPageSLAM.Controls.Add(this.label76);
            this.tabPageSLAM.Controls.Add(this.label58);
            this.tabPageSLAM.Controls.Add(this.label57);
            this.tabPageSLAM.Controls.Add(this.label3);
            this.tabPageSLAM.Controls.Add(this.label54);
            this.tabPageSLAM.Controls.Add(this.pictureBoxSLAMEffectiveWeight);
            this.tabPageSLAM.Controls.Add(this.pictureBoxSLAMAggregateWeights);
            this.tabPageSLAM.Controls.Add(this.pictureBoxSLAMWeights);
            this.tabPageSLAM.Controls.Add(this.pictureBoxSLAMWorst);
            this.tabPageSLAM.Controls.Add(this.pictureBoxSLAMBest);
            this.tabPageSLAM.Controls.Add(this.pictureBoxGlobalMap);
            this.tabPageSLAM.Controls.Add(this.pictureBoxSLAMReal);
            this.tabPageSLAM.Location = new System.Drawing.Point(4, 22);
            this.tabPageSLAM.Name = "tabPageSLAM";
            this.tabPageSLAM.Padding = new System.Windows.Forms.Padding(3);
            this.tabPageSLAM.Size = new System.Drawing.Size(797, 573);
            this.tabPageSLAM.TabIndex = 5;
            this.tabPageSLAM.Text = "SLAM";
            this.tabPageSLAM.UseVisualStyleBackColor = true;
            // 
            // button3
            // 
            this.button3.Location = new System.Drawing.Point(21, 531);
            this.button3.Name = "button3";
            this.button3.Size = new System.Drawing.Size(75, 23);
            this.button3.TabIndex = 44;
            this.button3.Text = "Clear";
            this.button3.UseVisualStyleBackColor = true;
            this.button3.Click += new System.EventHandler(this.button3_Click);
            // 
            // buttonSlimSlam
            // 
            this.buttonSlimSlam.Location = new System.Drawing.Point(122, 531);
            this.buttonSlimSlam.Name = "buttonSlimSlam";
            this.buttonSlimSlam.Size = new System.Drawing.Size(75, 23);
            this.buttonSlimSlam.TabIndex = 42;
            this.buttonSlimSlam.Text = "SlimSLAM";
            this.buttonSlimSlam.UseVisualStyleBackColor = true;
            this.buttonSlimSlam.Click += new System.EventHandler(this.buttonSlimSLAM_Click);
            // 
            // groupBox3
            // 
            this.groupBox3.Controls.Add(this.checkBoxSLAMEffectiveWeightEnable);
            this.groupBox3.Controls.Add(this.textBoxSLAMEffectiveWeightPercent);
            this.groupBox3.Controls.Add(this.checkBoxSLAMNoResampling);
            this.groupBox3.Controls.Add(this.checkBoxSLAMConditionSamplesOnMap);
            this.groupBox3.Location = new System.Drawing.Point(555, 225);
            this.groupBox3.Name = "groupBox3";
            this.groupBox3.Size = new System.Drawing.Size(221, 115);
            this.groupBox3.TabIndex = 41;
            this.groupBox3.TabStop = false;
            this.groupBox3.Text = "Sampling";
            // 
            // checkBoxSLAMEffectiveWeightEnable
            // 
            this.checkBoxSLAMEffectiveWeightEnable.Location = new System.Drawing.Point(21, 69);
            this.checkBoxSLAMEffectiveWeightEnable.Name = "checkBoxSLAMEffectiveWeightEnable";
            this.checkBoxSLAMEffectiveWeightEnable.Size = new System.Drawing.Size(135, 37);
            this.checkBoxSLAMEffectiveWeightEnable.TabIndex = 30;
            this.checkBoxSLAMEffectiveWeightEnable.Text = "Prevent Re-sampling if effective weight > %";
            this.checkBoxSLAMEffectiveWeightEnable.UseVisualStyleBackColor = true;
            // 
            // textBoxSLAMEffectiveWeightPercent
            // 
            this.textBoxSLAMEffectiveWeightPercent.Location = new System.Drawing.Point(162, 80);
            this.textBoxSLAMEffectiveWeightPercent.Name = "textBoxSLAMEffectiveWeightPercent";
            this.textBoxSLAMEffectiveWeightPercent.Size = new System.Drawing.Size(31, 20);
            this.textBoxSLAMEffectiveWeightPercent.TabIndex = 31;
            this.textBoxSLAMEffectiveWeightPercent.Text = "0.5";
            // 
            // checkBoxSLAMNoResampling
            // 
            this.checkBoxSLAMNoResampling.AutoSize = true;
            this.checkBoxSLAMNoResampling.Location = new System.Drawing.Point(21, 21);
            this.checkBoxSLAMNoResampling.Name = "checkBoxSLAMNoResampling";
            this.checkBoxSLAMNoResampling.Size = new System.Drawing.Size(180, 17);
            this.checkBoxSLAMNoResampling.TabIndex = 32;
            this.checkBoxSLAMNoResampling.Text = "No Resampling (No Localization)";
            this.checkBoxSLAMNoResampling.UseVisualStyleBackColor = true;
            // 
            // checkBoxSLAMConditionSamplesOnMap
            // 
            this.checkBoxSLAMConditionSamplesOnMap.AutoSize = true;
            this.checkBoxSLAMConditionSamplesOnMap.Location = new System.Drawing.Point(21, 46);
            this.checkBoxSLAMConditionSamplesOnMap.Name = "checkBoxSLAMConditionSamplesOnMap";
            this.checkBoxSLAMConditionSamplesOnMap.Size = new System.Drawing.Size(181, 17);
            this.checkBoxSLAMConditionSamplesOnMap.TabIndex = 35;
            this.checkBoxSLAMConditionSamplesOnMap.Text = "Condition Samples on Local Map";
            this.checkBoxSLAMConditionSamplesOnMap.UseVisualStyleBackColor = true;
            // 
            // GroupBox2
            // 
            this.GroupBox2.Controls.Add(this.textBoxSLAMParticles);
            this.GroupBox2.Controls.Add(this.buttonSLAMGo);
            this.GroupBox2.Controls.Add(this.label61);
            this.GroupBox2.Controls.Add(this.label62);
            this.GroupBox2.Controls.Add(this.textBoxSLAMSteps);
            this.GroupBox2.Controls.Add(this.labe77);
            this.GroupBox2.Controls.Add(this.textBoxSLAMInformationReduction);
            this.GroupBox2.Controls.Add(this.label87);
            this.GroupBox2.Controls.Add(this.label79);
            this.GroupBox2.Location = new System.Drawing.Point(13, 121);
            this.GroupBox2.Name = "GroupBox2";
            this.GroupBox2.Size = new System.Drawing.Size(188, 264);
            this.GroupBox2.TabIndex = 40;
            this.GroupBox2.TabStop = false;
            this.GroupBox2.Text = "Grid Slam";
            // 
            // textBoxSLAMParticles
            // 
            this.textBoxSLAMParticles.Location = new System.Drawing.Point(109, 19);
            this.textBoxSLAMParticles.Name = "textBoxSLAMParticles";
            this.textBoxSLAMParticles.Size = new System.Drawing.Size(68, 20);
            this.textBoxSLAMParticles.TabIndex = 27;
            this.textBoxSLAMParticles.Text = "100";
            // 
            // buttonSLAMGo
            // 
            this.buttonSLAMGo.Location = new System.Drawing.Point(108, 229);
            this.buttonSLAMGo.Name = "buttonSLAMGo";
            this.buttonSLAMGo.Size = new System.Drawing.Size(68, 23);
            this.buttonSLAMGo.TabIndex = 0;
            this.buttonSLAMGo.Text = "Do SLAM";
            this.buttonSLAMGo.UseVisualStyleBackColor = true;
            this.buttonSLAMGo.Click += new System.EventHandler(this.buttonSLAMGo_Click);
            // 
            // label61
            // 
            this.label61.AutoSize = true;
            this.label61.Location = new System.Drawing.Point(18, 26);
            this.label61.Name = "label61";
            this.label61.Size = new System.Drawing.Size(47, 13);
            this.label61.TabIndex = 25;
            this.label61.Text = "Particles";
            // 
            // label62
            // 
            this.label62.AutoSize = true;
            this.label62.Location = new System.Drawing.Point(20, 52);
            this.label62.Name = "label62";
            this.label62.Size = new System.Drawing.Size(34, 13);
            this.label62.TabIndex = 25;
            this.label62.Text = "Steps";
            // 
            // textBoxSLAMSteps
            // 
            this.textBoxSLAMSteps.Location = new System.Drawing.Point(109, 45);
            this.textBoxSLAMSteps.Name = "textBoxSLAMSteps";
            this.textBoxSLAMSteps.Size = new System.Drawing.Size(68, 20);
            this.textBoxSLAMSteps.TabIndex = 28;
            this.textBoxSLAMSteps.Text = "120";
            // 
            // labe77
            // 
            this.labe77.AutoSize = true;
            this.labe77.Location = new System.Drawing.Point(20, 73);
            this.labe77.Name = "labe77";
            this.labe77.Size = new System.Drawing.Size(77, 13);
            this.labe77.TabIndex = 25;
            this.labe77.Text = "Info Reduction";
            // 
            // textBoxSLAMInformationReduction
            // 
            this.textBoxSLAMInformationReduction.Location = new System.Drawing.Point(108, 70);
            this.textBoxSLAMInformationReduction.Name = "textBoxSLAMInformationReduction";
            this.textBoxSLAMInformationReduction.Size = new System.Drawing.Size(68, 20);
            this.textBoxSLAMInformationReduction.TabIndex = 28;
            this.textBoxSLAMInformationReduction.Text = "1";
            // 
            // label87
            // 
            this.label87.Location = new System.Drawing.Point(40, 93);
            this.label87.Name = "label87";
            this.label87.Size = new System.Drawing.Size(142, 83);
            this.label87.TabIndex = 29;
            this.label87.Text = "Zero to One. Info Reduction reduces the dispertion of probability to mitigate the" +
                " effects of dramatic sensor noise or overcertainty. 1 means no reduction";
            // 
            // label79
            // 
            this.label79.Location = new System.Drawing.Point(20, 182);
            this.label79.Name = "label79";
            this.label79.Size = new System.Drawing.Size(166, 53);
            this.label79.TabIndex = 29;
            this.label79.Text = "Warning: this is very memory hungry. You need lots of RAM. More than 300 particle" +
                "s is not advised.";
            // 
            // groupBox1
            // 
            this.groupBox1.Controls.Add(this.label2);
            this.groupBox1.Controls.Add(this.label1);
            this.groupBox1.Controls.Add(this.checkBoxUseLogFileRobot);
            this.groupBox1.Controls.Add(this.textBoxLogFileName);
            this.groupBox1.Location = new System.Drawing.Point(13, 393);
            this.groupBox1.Name = "groupBox1";
            this.groupBox1.Size = new System.Drawing.Size(188, 120);
            this.groupBox1.TabIndex = 39;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "From Log File";
            // 
            // label2
            // 
            this.label2.Location = new System.Drawing.Point(20, 79);
            this.label2.Name = "label2";
            this.label2.Size = new System.Drawing.Size(156, 38);
            this.label2.TabIndex = 39;
            this.label2.Text = "Expects a Carmen Log File with mixed laser and odometry.";
            // 
            // label1
            // 
            this.label1.AutoSize = true;
            this.label1.Location = new System.Drawing.Point(18, 53);
            this.label1.Name = "label1";
            this.label1.Size = new System.Drawing.Size(29, 13);
            this.label1.TabIndex = 38;
            this.label1.Text = "Path";
            // 
            // checkBoxUseLogFileRobot
            // 
            this.checkBoxUseLogFileRobot.AutoSize = true;
            this.checkBoxUseLogFileRobot.Location = new System.Drawing.Point(66, 23);
            this.checkBoxUseLogFileRobot.Name = "checkBoxUseLogFileRobot";
            this.checkBoxUseLogFileRobot.Size = new System.Drawing.Size(117, 17);
            this.checkBoxUseLogFileRobot.TabIndex = 36;
            this.checkBoxUseLogFileRobot.Text = "Use Log File Robot";
            this.checkBoxUseLogFileRobot.UseVisualStyleBackColor = true;
            // 
            // textBoxLogFileName
            // 
            this.textBoxLogFileName.Location = new System.Drawing.Point(65, 46);
            this.textBoxLogFileName.Name = "textBoxLogFileName";
            this.textBoxLogFileName.Size = new System.Drawing.Size(100, 20);
            this.textBoxLogFileName.TabIndex = 37;
            this.textBoxLogFileName.Text = "loop5.log";
            // 
            // checkBoxSaveFramesToDisk
            // 
            this.checkBoxSaveFramesToDisk.AutoSize = true;
            this.checkBoxSaveFramesToDisk.Location = new System.Drawing.Point(657, 545);
            this.checkBoxSaveFramesToDisk.Name = "checkBoxSaveFramesToDisk";
            this.checkBoxSaveFramesToDisk.Size = new System.Drawing.Size(119, 17);
            this.checkBoxSaveFramesToDisk.TabIndex = 38;
            this.checkBoxSaveFramesToDisk.Text = "Save frames to disk";
            this.checkBoxSaveFramesToDisk.UseVisualStyleBackColor = true;
            // 
            // label110
            // 
            this.label110.AutoSize = true;
            this.label110.Location = new System.Drawing.Point(558, 356);
            this.label110.Name = "label110";
            this.label110.Size = new System.Drawing.Size(0, 13);
            this.label110.TabIndex = 34;
            // 
            // label59
            // 
            this.label59.Location = new System.Drawing.Point(18, 27);
            this.label59.Name = "label59";
            this.label59.Size = new System.Drawing.Size(171, 105);
            this.label59.TabIndex = 26;
            this.label59.Text = "Each Particle\'s map is updated with sensor readings. At each step particles are r" +
                "e-sampled according to the correspondance between the sensor readings and the pa" +
                "rticle\'s map.";
            // 
            // label56
            // 
            this.label56.AutoSize = true;
            this.label56.Location = new System.Drawing.Point(589, 11);
            this.label56.Name = "label56";
            this.label56.Size = new System.Drawing.Size(130, 13);
            this.label56.TabIndex = 25;
            this.label56.Text = "Worst (Retained) Estimate";
            // 
            // label55
            // 
            this.label55.AutoSize = true;
            this.label55.Location = new System.Drawing.Point(593, 343);
            this.label55.Name = "label55";
            this.label55.Size = new System.Drawing.Size(123, 13);
            this.label55.TabIndex = 25;
            this.label55.Text = "Best Aggregate Estimate";
            // 
            // label76
            // 
            this.label76.AutoSize = true;
            this.label76.Location = new System.Drawing.Point(207, 446);
            this.label76.Name = "label76";
            this.label76.Size = new System.Drawing.Size(334, 13);
            this.label76.TabIndex = 25;
            this.label76.Text = "Effective Weight (Blue), Percent Duplicates (Red), RMS Error (Green)";
            // 
            // label58
            // 
            this.label58.AutoSize = true;
            this.label58.Location = new System.Drawing.Point(207, 333);
            this.label58.Name = "label58";
            this.label58.Size = new System.Drawing.Size(162, 13);
            this.label58.TabIndex = 25;
            this.label58.Text = "Aggregate Probability Distribution";
            // 
            // label57
            // 
            this.label57.AutoSize = true;
            this.label57.Location = new System.Drawing.Point(207, 219);
            this.label57.Name = "label57";
            this.label57.Size = new System.Drawing.Size(294, 13);
            this.label57.TabIndex = 25;
            this.label57.Text = "Scan Match Sorted Distribution (Blue), After resampling (Red)";
            // 
            // label3
            // 
            this.label3.AutoSize = true;
            this.label3.Location = new System.Drawing.Point(207, 11);
            this.label3.Name = "label3";
            this.label3.Size = new System.Drawing.Size(177, 13);
            this.label3.TabIndex = 25;
            this.label3.Text = "Global Map (only visible via sensors)";
            // 
            // label54
            // 
            this.label54.AutoSize = true;
            this.label54.Location = new System.Drawing.Point(398, 11);
            this.label54.Name = "label54";
            this.label54.Size = new System.Drawing.Size(89, 13);
            this.label54.TabIndex = 25;
            this.label54.Text = "Perfect Odometry";
            // 
            // pictureBoxSLAMEffectiveWeight
            // 
            this.pictureBoxSLAMEffectiveWeight.BackColor = System.Drawing.Color.White;
            this.pictureBoxSLAMEffectiveWeight.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxSLAMEffectiveWeight.Location = new System.Drawing.Point(210, 462);
            this.pictureBoxSLAMEffectiveWeight.Name = "pictureBoxSLAMEffectiveWeight";
            this.pictureBoxSLAMEffectiveWeight.Size = new System.Drawing.Size(325, 92);
            this.pictureBoxSLAMEffectiveWeight.TabIndex = 24;
            this.pictureBoxSLAMEffectiveWeight.TabStop = false;
            // 
            // pictureBoxSLAMAggregateWeights
            // 
            this.pictureBoxSLAMAggregateWeights.BackColor = System.Drawing.Color.White;
            this.pictureBoxSLAMAggregateWeights.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxSLAMAggregateWeights.Location = new System.Drawing.Point(210, 349);
            this.pictureBoxSLAMAggregateWeights.Name = "pictureBoxSLAMAggregateWeights";
            this.pictureBoxSLAMAggregateWeights.Size = new System.Drawing.Size(325, 92);
            this.pictureBoxSLAMAggregateWeights.TabIndex = 24;
            this.pictureBoxSLAMAggregateWeights.TabStop = false;
            // 
            // pictureBoxSLAMWeights
            // 
            this.pictureBoxSLAMWeights.BackColor = System.Drawing.Color.White;
            this.pictureBoxSLAMWeights.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxSLAMWeights.Location = new System.Drawing.Point(210, 235);
            this.pictureBoxSLAMWeights.Name = "pictureBoxSLAMWeights";
            this.pictureBoxSLAMWeights.Size = new System.Drawing.Size(325, 92);
            this.pictureBoxSLAMWeights.TabIndex = 23;
            this.pictureBoxSLAMWeights.TabStop = false;
            // 
            // pictureBoxSLAMWorst
            // 
            this.pictureBoxSLAMWorst.BackColor = System.Drawing.Color.White;
            this.pictureBoxSLAMWorst.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxSLAMWorst.Location = new System.Drawing.Point(592, 27);
            this.pictureBoxSLAMWorst.Name = "pictureBoxSLAMWorst";
            this.pictureBoxSLAMWorst.Size = new System.Drawing.Size(180, 180);
            this.pictureBoxSLAMWorst.TabIndex = 22;
            this.pictureBoxSLAMWorst.TabStop = false;
            // 
            // pictureBoxSLAMBest
            // 
            this.pictureBoxSLAMBest.BackColor = System.Drawing.Color.White;
            this.pictureBoxSLAMBest.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxSLAMBest.Location = new System.Drawing.Point(596, 359);
            this.pictureBoxSLAMBest.Name = "pictureBoxSLAMBest";
            this.pictureBoxSLAMBest.Size = new System.Drawing.Size(180, 180);
            this.pictureBoxSLAMBest.TabIndex = 21;
            this.pictureBoxSLAMBest.TabStop = false;
            // 
            // pictureBoxGlobalMap
            // 
            this.pictureBoxGlobalMap.BackColor = System.Drawing.Color.White;
            this.pictureBoxGlobalMap.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxGlobalMap.InitialImage = ((System.Drawing.Image)(resources.GetObject("pictureBoxGlobalMap.InitialImage")));
            this.pictureBoxGlobalMap.Location = new System.Drawing.Point(210, 27);
            this.pictureBoxGlobalMap.Name = "pictureBoxGlobalMap";
            this.pictureBoxGlobalMap.Size = new System.Drawing.Size(180, 180);
            this.pictureBoxGlobalMap.TabIndex = 20;
            this.pictureBoxGlobalMap.TabStop = false;
            // 
            // pictureBoxSLAMReal
            // 
            this.pictureBoxSLAMReal.BackColor = System.Drawing.Color.White;
            this.pictureBoxSLAMReal.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxSLAMReal.Location = new System.Drawing.Point(401, 27);
            this.pictureBoxSLAMReal.Name = "pictureBoxSLAMReal";
            this.pictureBoxSLAMReal.Size = new System.Drawing.Size(180, 180);
            this.pictureBoxSLAMReal.TabIndex = 20;
            this.pictureBoxSLAMReal.TabStop = false;
            // 
            // tabControl1
            // 
            this.tabControl1.Controls.Add(this.tabPageSLAM);
            this.tabControl1.Controls.Add(this.tabPageRobot);
            this.tabControl1.Controls.Add(this.tabPageMotionModel);
            this.tabControl1.Controls.Add(this.tabPageOdometryMotionModel);
            this.tabControl1.Controls.Add(this.tabSensors);
            this.tabControl1.Controls.Add(this.tabConeModel1);
            this.tabControl1.Controls.Add(this.tabConeModel2);
            this.tabControl1.Controls.Add(this.tabBeamModel);
            this.tabControl1.Controls.Add(this.tabNavigation);
            this.tabControl1.Location = new System.Drawing.Point(12, 27);
            this.tabControl1.Name = "tabControl1";
            this.tabControl1.SelectedIndex = 0;
            this.tabControl1.Size = new System.Drawing.Size(805, 599);
            this.tabControl1.TabIndex = 17;
            // 
            // tabSensors
            // 
            this.tabSensors.Controls.Add(this.radioButtonSensorsCustom);
            this.tabSensors.Controls.Add(this.label4);
            this.tabSensors.Controls.Add(this.label7);
            this.tabSensors.Controls.Add(this.textBoxSensorsNum);
            this.tabSensors.Controls.Add(this.label75);
            this.tabSensors.Controls.Add(this.comboBoxConeModel);
            this.tabSensors.Controls.Add(this.radioButtonSensorsLaser);
            this.tabSensors.Controls.Add(this.radioButtonSensorsIR);
            this.tabSensors.Controls.Add(this.radioButtonSensorsSonars);
            this.tabSensors.Controls.Add(this.label5);
            this.tabSensors.Controls.Add(this.buttonUpdateSensorGrid);
            this.tabSensors.Controls.Add(this.dataGridViewSensors);
            this.tabSensors.Location = new System.Drawing.Point(4, 22);
            this.tabSensors.Name = "tabSensors";
            this.tabSensors.Size = new System.Drawing.Size(797, 573);
            this.tabSensors.TabIndex = 11;
            this.tabSensors.Text = "Sensors";
            this.tabSensors.UseVisualStyleBackColor = true;
            // 
            // radioButtonSensorsCustom
            // 
            this.radioButtonSensorsCustom.AutoSize = true;
            this.radioButtonSensorsCustom.Location = new System.Drawing.Point(229, 11);
            this.radioButtonSensorsCustom.Name = "radioButtonSensorsCustom";
            this.radioButtonSensorsCustom.Size = new System.Drawing.Size(139, 17);
            this.radioButtonSensorsCustom.TabIndex = 18;
            this.radioButtonSensorsCustom.TabStop = true;
            this.radioButtonSensorsCustom.Text = "Custom (from other tabs)";
            this.radioButtonSensorsCustom.UseVisualStyleBackColor = true;
            this.radioButtonSensorsCustom.CheckedChanged += new System.EventHandler(this.radioButtonSensorsCustom_CheckedChanged);
            // 
            // label4
            // 
            this.label4.AutoSize = true;
            this.label4.Location = new System.Drawing.Point(19, 15);
            this.label4.Name = "label4";
            this.label4.Size = new System.Drawing.Size(45, 13);
            this.label4.TabIndex = 17;
            this.label4.Text = "Presets:";
            // 
            // label7
            // 
            this.label7.AutoSize = true;
            this.label7.Location = new System.Drawing.Point(437, 12);
            this.label7.Name = "label7";
            this.label7.Size = new System.Drawing.Size(63, 13);
            this.label7.TabIndex = 16;
            this.label7.Text = "How many?";
            // 
            // textBoxSensorsNum
            // 
            this.textBoxSensorsNum.Location = new System.Drawing.Point(506, 8);
            this.textBoxSensorsNum.Name = "textBoxSensorsNum";
            this.textBoxSensorsNum.Size = new System.Drawing.Size(66, 20);
            this.textBoxSensorsNum.TabIndex = 15;
            this.textBoxSensorsNum.Text = "24";
            this.textBoxSensorsNum.Leave += new System.EventHandler(this.textBoxSensorsNum_Leave);
            // 
            // label75
            // 
            this.label75.AutoSize = true;
            this.label75.Location = new System.Drawing.Point(597, 12);
            this.label75.Name = "label75";
            this.label75.Size = new System.Drawing.Size(64, 13);
            this.label75.TabIndex = 14;
            this.label75.Text = "Cone Model";
            // 
            // comboBoxConeModel
            // 
            this.comboBoxConeModel.FormattingEnabled = true;
            this.comboBoxConeModel.Items.AddRange(new object[] {
            "1 Gaussian",
            "4 Gaussians (slower)"});
            this.comboBoxConeModel.Location = new System.Drawing.Point(670, 10);
            this.comboBoxConeModel.Name = "comboBoxConeModel";
            this.comboBoxConeModel.Size = new System.Drawing.Size(108, 21);
            this.comboBoxConeModel.TabIndex = 13;
            // 
            // radioButtonSensorsLaser
            // 
            this.radioButtonSensorsLaser.AutoSize = true;
            this.radioButtonSensorsLaser.Location = new System.Drawing.Point(171, 12);
            this.radioButtonSensorsLaser.Name = "radioButtonSensorsLaser";
            this.radioButtonSensorsLaser.Size = new System.Drawing.Size(51, 17);
            this.radioButtonSensorsLaser.TabIndex = 6;
            this.radioButtonSensorsLaser.TabStop = true;
            this.radioButtonSensorsLaser.Text = "Laser";
            this.radioButtonSensorsLaser.UseVisualStyleBackColor = true;
            this.radioButtonSensorsLaser.CheckedChanged += new System.EventHandler(this.radioButtonSensorsLaser_CheckedChanged);
            // 
            // radioButtonSensorsIR
            // 
            this.radioButtonSensorsIR.AutoSize = true;
            this.radioButtonSensorsIR.Location = new System.Drawing.Point(129, 12);
            this.radioButtonSensorsIR.Name = "radioButtonSensorsIR";
            this.radioButtonSensorsIR.Size = new System.Drawing.Size(36, 17);
            this.radioButtonSensorsIR.TabIndex = 5;
            this.radioButtonSensorsIR.TabStop = true;
            this.radioButtonSensorsIR.Text = "IR";
            this.radioButtonSensorsIR.UseVisualStyleBackColor = true;
            this.radioButtonSensorsIR.CheckedChanged += new System.EventHandler(this.radioButtonSensorsIR_CheckedChanged);
            // 
            // radioButtonSensorsSonars
            // 
            this.radioButtonSensorsSonars.AutoSize = true;
            this.radioButtonSensorsSonars.Checked = true;
            this.radioButtonSensorsSonars.Location = new System.Drawing.Point(70, 12);
            this.radioButtonSensorsSonars.Name = "radioButtonSensorsSonars";
            this.radioButtonSensorsSonars.Size = new System.Drawing.Size(53, 17);
            this.radioButtonSensorsSonars.TabIndex = 4;
            this.radioButtonSensorsSonars.TabStop = true;
            this.radioButtonSensorsSonars.Text = "Sonar";
            this.radioButtonSensorsSonars.UseVisualStyleBackColor = true;
            this.radioButtonSensorsSonars.Click += new System.EventHandler(this.radioButtonSensorsSonars_Click);
            this.radioButtonSensorsSonars.CheckedChanged += new System.EventHandler(this.radioButtonSensorsSonars_CheckedChanged);
            // 
            // label5
            // 
            this.label5.Location = new System.Drawing.Point(103, 539);
            this.label5.Name = "label5";
            this.label5.Size = new System.Drawing.Size(234, 20);
            this.label5.TabIndex = 3;
            // 
            // buttonUpdateSensorGrid
            // 
            this.buttonUpdateSensorGrid.Location = new System.Drawing.Point(703, 539);
            this.buttonUpdateSensorGrid.Name = "buttonUpdateSensorGrid";
            this.buttonUpdateSensorGrid.Size = new System.Drawing.Size(75, 23);
            this.buttonUpdateSensorGrid.TabIndex = 1;
            this.buttonUpdateSensorGrid.Text = "Update";
            this.buttonUpdateSensorGrid.UseVisualStyleBackColor = true;
            this.buttonUpdateSensorGrid.Click += new System.EventHandler(this.buttonUpdateSensorGrid_Click);
            // 
            // dataGridViewSensors
            // 
            this.dataGridViewSensors.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
            this.dataGridViewSensors.Location = new System.Drawing.Point(17, 37);
            this.dataGridViewSensors.Name = "dataGridViewSensors";
            this.dataGridViewSensors.Size = new System.Drawing.Size(761, 496);
            this.dataGridViewSensors.TabIndex = 0;
            this.dataGridViewSensors.RowsRemoved += new System.Windows.Forms.DataGridViewRowsRemovedEventHandler(this.dataGridViewSensors_RowsRemoved);
            // 
            // tabConeModel1
            // 
            this.tabConeModel1.Controls.Add(this.label50);
            this.tabConeModel1.Controls.Add(this.label46);
            this.tabConeModel1.Controls.Add(this.groupBox15);
            this.tabConeModel1.Controls.Add(this.pictureBoxConeModel);
            this.tabConeModel1.Controls.Add(this.groupBox13);
            this.tabConeModel1.Location = new System.Drawing.Point(4, 22);
            this.tabConeModel1.Name = "tabConeModel1";
            this.tabConeModel1.Padding = new System.Windows.Forms.Padding(3);
            this.tabConeModel1.Size = new System.Drawing.Size(797, 573);
            this.tabConeModel1.TabIndex = 10;
            this.tabConeModel1.Text = "Cone Model 1";
            this.tabConeModel1.UseVisualStyleBackColor = true;
            // 
            // label50
            // 
            this.label50.Location = new System.Drawing.Point(24, 21);
            this.label50.Name = "label50";
            this.label50.Size = new System.Drawing.Size(193, 17);
            this.label50.TabIndex = 6;
            this.label50.Text = "Uses one Gaussian across the beam";
            // 
            // label46
            // 
            this.label46.AutoSize = true;
            this.label46.Location = new System.Drawing.Point(228, 22);
            this.label46.Name = "label46";
            this.label46.Size = new System.Drawing.Size(64, 13);
            this.label46.TabIndex = 12;
            this.label46.Text = "Cone Model";
            // 
            // groupBox15
            // 
            this.groupBox15.Controls.Add(this.buttonConeModelSave);
            this.groupBox15.Controls.Add(this.label48);
            this.groupBox15.Controls.Add(this.label43);
            this.groupBox15.Controls.Add(this.label44);
            this.groupBox15.Controls.Add(this.textBoxConeFalseProb);
            this.groupBox15.Controls.Add(this.textBoxConeVariance);
            this.groupBox15.Controls.Add(this.label42);
            this.groupBox15.Controls.Add(this.label47);
            this.groupBox15.Controls.Add(this.textBoxConeBeamWidth);
            this.groupBox15.Controls.Add(this.label27);
            this.groupBox15.Controls.Add(this.textBoxConeTruthProb);
            this.groupBox15.Controls.Add(this.textBoxConeMaxRange);
            this.groupBox15.Controls.Add(this.textBoxConeObstacleSize);
            this.groupBox15.Location = new System.Drawing.Point(17, 46);
            this.groupBox15.Name = "groupBox15";
            this.groupBox15.Size = new System.Drawing.Size(200, 232);
            this.groupBox15.TabIndex = 11;
            this.groupBox15.TabStop = false;
            this.groupBox15.Text = "Cone Model 1D Gaussian";
            // 
            // buttonConeModelSave
            // 
            this.buttonConeModelSave.Location = new System.Drawing.Point(119, 186);
            this.buttonConeModelSave.Name = "buttonConeModelSave";
            this.buttonConeModelSave.Size = new System.Drawing.Size(70, 23);
            this.buttonConeModelSave.TabIndex = 5;
            this.buttonConeModelSave.Text = "Save";
            this.buttonConeModelSave.UseVisualStyleBackColor = true;
            this.buttonConeModelSave.Click += new System.EventHandler(this.buttonConeModelSave_Click);
            // 
            // label48
            // 
            this.label48.AutoSize = true;
            this.label48.Location = new System.Drawing.Point(20, 160);
            this.label48.Name = "label48";
            this.label48.Size = new System.Drawing.Size(81, 13);
            this.label48.TabIndex = 3;
            this.label48.Text = "False Prob 0.5 -";
            // 
            // label43
            // 
            this.label43.AutoSize = true;
            this.label43.Location = new System.Drawing.Point(20, 106);
            this.label43.Name = "label43";
            this.label43.Size = new System.Drawing.Size(49, 13);
            this.label43.TabIndex = 3;
            this.label43.Text = "Variance";
            // 
            // label44
            // 
            this.label44.AutoSize = true;
            this.label44.Location = new System.Drawing.Point(19, 29);
            this.label44.Name = "label44";
            this.label44.Size = new System.Drawing.Size(85, 13);
            this.label44.TabIndex = 2;
            this.label44.Text = "Max Range (cm)";
            // 
            // textBoxConeFalseProb
            // 
            this.textBoxConeFalseProb.Location = new System.Drawing.Point(119, 160);
            this.textBoxConeFalseProb.Name = "textBoxConeFalseProb";
            this.textBoxConeFalseProb.Size = new System.Drawing.Size(70, 20);
            this.textBoxConeFalseProb.TabIndex = 1;
            this.textBoxConeFalseProb.Text = "0.1";
            // 
            // textBoxConeVariance
            // 
            this.textBoxConeVariance.Location = new System.Drawing.Point(119, 106);
            this.textBoxConeVariance.Name = "textBoxConeVariance";
            this.textBoxConeVariance.Size = new System.Drawing.Size(70, 20);
            this.textBoxConeVariance.TabIndex = 1;
            this.textBoxConeVariance.Text = "0.004";
            // 
            // label42
            // 
            this.label42.AutoSize = true;
            this.label42.Location = new System.Drawing.Point(19, 55);
            this.label42.Name = "label42";
            this.label42.Size = new System.Drawing.Size(92, 13);
            this.label42.TabIndex = 2;
            this.label42.Text = "Cone Width (rads)";
            // 
            // label47
            // 
            this.label47.AutoSize = true;
            this.label47.Location = new System.Drawing.Point(20, 135);
            this.label47.Name = "label47";
            this.label47.Size = new System.Drawing.Size(84, 13);
            this.label47.TabIndex = 3;
            this.label47.Text = "Truth Prob 0.5 +";
            // 
            // textBoxConeBeamWidth
            // 
            this.textBoxConeBeamWidth.Location = new System.Drawing.Point(119, 52);
            this.textBoxConeBeamWidth.Name = "textBoxConeBeamWidth";
            this.textBoxConeBeamWidth.Size = new System.Drawing.Size(70, 20);
            this.textBoxConeBeamWidth.TabIndex = 0;
            this.textBoxConeBeamWidth.Text = "0.5";
            // 
            // label27
            // 
            this.label27.AutoSize = true;
            this.label27.Location = new System.Drawing.Point(20, 81);
            this.label27.Name = "label27";
            this.label27.Size = new System.Drawing.Size(95, 13);
            this.label27.TabIndex = 3;
            this.label27.Text = "Obstacle Size (cm)";
            // 
            // textBoxConeTruthProb
            // 
            this.textBoxConeTruthProb.Location = new System.Drawing.Point(119, 134);
            this.textBoxConeTruthProb.Name = "textBoxConeTruthProb";
            this.textBoxConeTruthProb.Size = new System.Drawing.Size(70, 20);
            this.textBoxConeTruthProb.TabIndex = 1;
            this.textBoxConeTruthProb.Text = "0.3";
            // 
            // textBoxConeMaxRange
            // 
            this.textBoxConeMaxRange.Location = new System.Drawing.Point(119, 26);
            this.textBoxConeMaxRange.Name = "textBoxConeMaxRange";
            this.textBoxConeMaxRange.Size = new System.Drawing.Size(70, 20);
            this.textBoxConeMaxRange.TabIndex = 0;
            this.textBoxConeMaxRange.Text = "200";
            // 
            // textBoxConeObstacleSize
            // 
            this.textBoxConeObstacleSize.Location = new System.Drawing.Point(119, 80);
            this.textBoxConeObstacleSize.Name = "textBoxConeObstacleSize";
            this.textBoxConeObstacleSize.Size = new System.Drawing.Size(70, 20);
            this.textBoxConeObstacleSize.TabIndex = 1;
            this.textBoxConeObstacleSize.Text = "10";
            // 
            // pictureBoxConeModel
            // 
            this.pictureBoxConeModel.BackColor = System.Drawing.Color.White;
            this.pictureBoxConeModel.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxConeModel.Location = new System.Drawing.Point(231, 38);
            this.pictureBoxConeModel.Name = "pictureBoxConeModel";
            this.pictureBoxConeModel.Size = new System.Drawing.Size(551, 327);
            this.pictureBoxConeModel.TabIndex = 10;
            this.pictureBoxConeModel.TabStop = false;
            // 
            // groupBox13
            // 
            this.groupBox13.Controls.Add(this.buttonTestBeamModel);
            this.groupBox13.Controls.Add(this.textBoxConeModelDistance);
            this.groupBox13.Controls.Add(this.label38);
            this.groupBox13.Location = new System.Drawing.Point(17, 284);
            this.groupBox13.Name = "groupBox13";
            this.groupBox13.Size = new System.Drawing.Size(200, 82);
            this.groupBox13.TabIndex = 9;
            this.groupBox13.TabStop = false;
            this.groupBox13.Text = "Test";
            // 
            // buttonTestBeamModel
            // 
            this.buttonTestBeamModel.Location = new System.Drawing.Point(108, 45);
            this.buttonTestBeamModel.Name = "buttonTestBeamModel";
            this.buttonTestBeamModel.Size = new System.Drawing.Size(75, 23);
            this.buttonTestBeamModel.TabIndex = 4;
            this.buttonTestBeamModel.Text = "Test";
            this.buttonTestBeamModel.UseVisualStyleBackColor = true;
            this.buttonTestBeamModel.Click += new System.EventHandler(this.buttonTestBeamModel_Click_1);
            // 
            // textBoxConeModelDistance
            // 
            this.textBoxConeModelDistance.Location = new System.Drawing.Point(113, 19);
            this.textBoxConeModelDistance.Name = "textBoxConeModelDistance";
            this.textBoxConeModelDistance.Size = new System.Drawing.Size(70, 20);
            this.textBoxConeModelDistance.TabIndex = 1;
            this.textBoxConeModelDistance.Text = "140";
            // 
            // label38
            // 
            this.label38.AutoSize = true;
            this.label38.Location = new System.Drawing.Point(19, 22);
            this.label38.Name = "label38";
            this.label38.Size = new System.Drawing.Size(72, 13);
            this.label38.TabIndex = 3;
            this.label38.Text = "Distance (cm)";
            // 
            // tabPageOdometryMotionModel
            // 
            this.tabPageOdometryMotionModel.Controls.Add(this.groupBox24);
            this.tabPageOdometryMotionModel.Controls.Add(this.groupBox22);
            this.tabPageOdometryMotionModel.Controls.Add(this.groupBox23);
            this.tabPageOdometryMotionModel.Controls.Add(this.groupBox25);
            this.tabPageOdometryMotionModel.Controls.Add(this.pictureBoxOdometryModel);
            this.tabPageOdometryMotionModel.Location = new System.Drawing.Point(4, 22);
            this.tabPageOdometryMotionModel.Name = "tabPageOdometryMotionModel";
            this.tabPageOdometryMotionModel.Padding = new System.Windows.Forms.Padding(3);
            this.tabPageOdometryMotionModel.Size = new System.Drawing.Size(797, 573);
            this.tabPageOdometryMotionModel.TabIndex = 12;
            this.tabPageOdometryMotionModel.Text = "Odometry Motion Model";
            this.tabPageOdometryMotionModel.UseVisualStyleBackColor = true;
            this.tabPageOdometryMotionModel.Click += new System.EventHandler(this.tabPage1_Click);
            // 
            // pictureBox1
            // 
            this.pictureBox1.BackColor = System.Drawing.Color.White;
            this.pictureBox1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBox1.Location = new System.Drawing.Point(242, 21);
            this.pictureBox1.Name = "pictureBox1";
            this.pictureBox1.Size = new System.Drawing.Size(532, 472);
            this.pictureBox1.TabIndex = 0;
            this.pictureBox1.TabStop = false;
            // 
            // groupBox9
            // 
            this.groupBox9.Controls.Add(this.textBox1);
            this.groupBox9.Controls.Add(this.label8);
            this.groupBox9.Controls.Add(this.textBox2);
            this.groupBox9.Controls.Add(this.label9);
            this.groupBox9.Controls.Add(this.textBox3);
            this.groupBox9.Controls.Add(this.label10);
            this.groupBox9.Location = new System.Drawing.Point(24, 21);
            this.groupBox9.Name = "groupBox9";
            this.groupBox9.Size = new System.Drawing.Size(200, 100);
            this.groupBox9.TabIndex = 3;
            this.groupBox9.TabStop = false;
            this.groupBox9.Text = "Initial State";
            // 
            // textBox1
            // 
            this.textBox1.Location = new System.Drawing.Point(79, 71);
            this.textBox1.Name = "textBox1";
            this.textBox1.Size = new System.Drawing.Size(100, 20);
            this.textBox1.TabIndex = 1;
            this.textBox1.Text = "0";
            // 
            // label8
            // 
            this.label8.AutoSize = true;
            this.label8.Location = new System.Drawing.Point(12, 73);
            this.label8.Name = "label8";
            this.label8.Size = new System.Drawing.Size(64, 13);
            this.label8.TabIndex = 2;
            this.label8.Text = "Theta (rads)";
            // 
            // textBox2
            // 
            this.textBox2.Location = new System.Drawing.Point(79, 45);
            this.textBox2.Name = "textBox2";
            this.textBox2.Size = new System.Drawing.Size(100, 20);
            this.textBox2.TabIndex = 1;
            this.textBox2.Text = "100";
            // 
            // label9
            // 
            this.label9.AutoSize = true;
            this.label9.Location = new System.Drawing.Point(12, 47);
            this.label9.Name = "label9";
            this.label9.Size = new System.Drawing.Size(14, 13);
            this.label9.TabIndex = 2;
            this.label9.Text = "Y";
            // 
            // textBox3
            // 
            this.textBox3.Location = new System.Drawing.Point(79, 19);
            this.textBox3.Name = "textBox3";
            this.textBox3.Size = new System.Drawing.Size(100, 20);
            this.textBox3.TabIndex = 1;
            this.textBox3.Text = "100";
            // 
            // label10
            // 
            this.label10.AutoSize = true;
            this.label10.Location = new System.Drawing.Point(12, 21);
            this.label10.Name = "label10";
            this.label10.Size = new System.Drawing.Size(14, 13);
            this.label10.TabIndex = 2;
            this.label10.Text = "X";
            // 
            // groupBox10
            // 
            this.groupBox10.Controls.Add(this.textBox4);
            this.groupBox10.Controls.Add(this.label24);
            this.groupBox10.Controls.Add(this.textBox5);
            this.groupBox10.Controls.Add(this.label25);
            this.groupBox10.Location = new System.Drawing.Point(24, 127);
            this.groupBox10.Name = "groupBox10";
            this.groupBox10.Size = new System.Drawing.Size(200, 80);
            this.groupBox10.TabIndex = 3;
            this.groupBox10.TabStop = false;
            this.groupBox10.Text = "Velocity";
            // 
            // textBox4
            // 
            this.textBox4.Location = new System.Drawing.Point(79, 45);
            this.textBox4.Name = "textBox4";
            this.textBox4.Size = new System.Drawing.Size(100, 20);
            this.textBox4.TabIndex = 1;
            this.textBox4.Text = "0";
            // 
            // label24
            // 
            this.label24.AutoSize = true;
            this.label24.Location = new System.Drawing.Point(12, 47);
            this.label24.Name = "label24";
            this.label24.Size = new System.Drawing.Size(47, 13);
            this.label24.TabIndex = 2;
            this.label24.Text = "W (rads)";
            // 
            // textBox5
            // 
            this.textBox5.Location = new System.Drawing.Point(79, 19);
            this.textBox5.Name = "textBox5";
            this.textBox5.Size = new System.Drawing.Size(100, 20);
            this.textBox5.TabIndex = 1;
            this.textBox5.Text = "30";
            // 
            // label25
            // 
            this.label25.AutoSize = true;
            this.label25.Location = new System.Drawing.Point(12, 21);
            this.label25.Name = "label25";
            this.label25.Size = new System.Drawing.Size(47, 13);
            this.label25.TabIndex = 2;
            this.label25.Text = "V (cm/s)";
            // 
            // groupBox14
            // 
            this.groupBox14.Controls.Add(this.button2);
            this.groupBox14.Controls.Add(this.textBox6);
            this.groupBox14.Controls.Add(this.label26);
            this.groupBox14.Controls.Add(this.textBox7);
            this.groupBox14.Controls.Add(this.label28);
            this.groupBox14.Controls.Add(this.label29);
            this.groupBox14.Controls.Add(this.textBox8);
            this.groupBox14.Controls.Add(this.label30);
            this.groupBox14.Controls.Add(this.textBox9);
            this.groupBox14.Controls.Add(this.textBox10);
            this.groupBox14.Controls.Add(this.label31);
            this.groupBox14.Controls.Add(this.textBox11);
            this.groupBox14.Controls.Add(this.label40);
            this.groupBox14.Location = new System.Drawing.Point(24, 213);
            this.groupBox14.Name = "groupBox14";
            this.groupBox14.Size = new System.Drawing.Size(200, 141);
            this.groupBox14.TabIndex = 5;
            this.groupBox14.TabStop = false;
            this.groupBox14.Text = "Velocity Model Errors";
            // 
            // button2
            // 
            this.button2.Location = new System.Drawing.Point(104, 103);
            this.button2.Name = "button2";
            this.button2.Size = new System.Drawing.Size(75, 23);
            this.button2.TabIndex = 3;
            this.button2.Text = "Save";
            this.button2.UseVisualStyleBackColor = true;
            this.button2.Click += new System.EventHandler(this.buttonVelocityMotionModelSave_Click);
            // 
            // textBox6
            // 
            this.textBox6.Location = new System.Drawing.Point(136, 77);
            this.textBox6.Name = "textBox6";
            this.textBox6.Size = new System.Drawing.Size(56, 20);
            this.textBox6.TabIndex = 1;
            this.textBox6.Text = "0.000001";
            // 
            // label26
            // 
            this.label26.AutoSize = true;
            this.label26.Location = new System.Drawing.Point(98, 80);
            this.label26.Name = "label26";
            this.label26.Size = new System.Drawing.Size(33, 13);
            this.label26.TabIndex = 2;
            this.label26.Text = "Rerr3";
            // 
            // textBox7
            // 
            this.textBox7.Location = new System.Drawing.Point(46, 74);
            this.textBox7.Name = "textBox7";
            this.textBox7.Size = new System.Drawing.Size(48, 20);
            this.textBox7.TabIndex = 1;
            this.textBox7.Text = "0.00001";
            // 
            // label28
            // 
            this.label28.AutoSize = true;
            this.label28.Location = new System.Drawing.Point(98, 28);
            this.label28.Name = "label28";
            this.label28.Size = new System.Drawing.Size(33, 13);
            this.label28.TabIndex = 2;
            this.label28.Text = "Rerr1";
            // 
            // label29
            // 
            this.label29.AutoSize = true;
            this.label29.Location = new System.Drawing.Point(8, 77);
            this.label29.Name = "label29";
            this.label29.Size = new System.Drawing.Size(32, 13);
            this.label29.TabIndex = 2;
            this.label29.Text = "Verr3";
            // 
            // textBox8
            // 
            this.textBox8.Location = new System.Drawing.Point(136, 51);
            this.textBox8.Name = "textBox8";
            this.textBox8.Size = new System.Drawing.Size(56, 20);
            this.textBox8.TabIndex = 1;
            this.textBox8.Text = "0.000001";
            // 
            // label30
            // 
            this.label30.AutoSize = true;
            this.label30.Location = new System.Drawing.Point(8, 25);
            this.label30.Name = "label30";
            this.label30.Size = new System.Drawing.Size(32, 13);
            this.label30.TabIndex = 2;
            this.label30.Text = "Verr1";
            // 
            // textBox9
            // 
            this.textBox9.Location = new System.Drawing.Point(136, 25);
            this.textBox9.Name = "textBox9";
            this.textBox9.Size = new System.Drawing.Size(56, 20);
            this.textBox9.TabIndex = 1;
            this.textBox9.Text = "0.000001";
            // 
            // textBox10
            // 
            this.textBox10.Location = new System.Drawing.Point(46, 48);
            this.textBox10.Name = "textBox10";
            this.textBox10.Size = new System.Drawing.Size(48, 20);
            this.textBox10.TabIndex = 1;
            this.textBox10.Text = "0.00001";
            // 
            // label31
            // 
            this.label31.AutoSize = true;
            this.label31.Location = new System.Drawing.Point(98, 54);
            this.label31.Name = "label31";
            this.label31.Size = new System.Drawing.Size(33, 13);
            this.label31.TabIndex = 2;
            this.label31.Text = "Rerr2";
            // 
            // textBox11
            // 
            this.textBox11.Location = new System.Drawing.Point(46, 22);
            this.textBox11.Name = "textBox11";
            this.textBox11.Size = new System.Drawing.Size(48, 20);
            this.textBox11.TabIndex = 1;
            this.textBox11.Text = "0.04";
            // 
            // label40
            // 
            this.label40.AutoSize = true;
            this.label40.Location = new System.Drawing.Point(8, 51);
            this.label40.Name = "label40";
            this.label40.Size = new System.Drawing.Size(32, 13);
            this.label40.TabIndex = 2;
            this.label40.Text = "Verr2";
            // 
            // groupBox18
            // 
            this.groupBox18.Controls.Add(this.checkBox1);
            this.groupBox18.Controls.Add(this.label51);
            this.groupBox18.Controls.Add(this.button4);
            this.groupBox18.Controls.Add(this.button5);
            this.groupBox18.Controls.Add(this.textBox12);
            this.groupBox18.Controls.Add(this.textBox13);
            this.groupBox18.Controls.Add(this.label52);
            this.groupBox18.Controls.Add(this.label53);
            this.groupBox18.Location = new System.Drawing.Point(24, 360);
            this.groupBox18.Name = "groupBox18";
            this.groupBox18.Size = new System.Drawing.Size(200, 133);
            this.groupBox18.TabIndex = 6;
            this.groupBox18.TabStop = false;
            this.groupBox18.Text = "Iterate";
            // 
            // checkBox1
            // 
            this.checkBox1.AutoSize = true;
            this.checkBox1.Checked = true;
            this.checkBox1.CheckState = System.Windows.Forms.CheckState.Checked;
            this.checkBox1.Location = new System.Drawing.Point(110, 31);
            this.checkBox1.Name = "checkBox1";
            this.checkBox1.Size = new System.Drawing.Size(73, 17);
            this.checkBox1.TabIndex = 11;
            this.checkBox1.Text = "Resample";
            this.checkBox1.UseVisualStyleBackColor = true;
            // 
            // label51
            // 
            this.label51.Location = new System.Drawing.Point(5, 16);
            this.label51.Name = "label51";
            this.label51.Size = new System.Drawing.Size(140, 19);
            this.label51.TabIndex = 9;
            this.label51.Text = "Hit step a few times.";
            // 
            // button4
            // 
            this.button4.Location = new System.Drawing.Point(21, 104);
            this.button4.Name = "button4";
            this.button4.Size = new System.Drawing.Size(75, 23);
            this.button4.TabIndex = 8;
            this.button4.Text = "Clear";
            this.button4.UseVisualStyleBackColor = true;
            this.button4.Click += new System.EventHandler(this.buttonClear_Click);
            // 
            // button5
            // 
            this.button5.Location = new System.Drawing.Point(103, 104);
            this.button5.Name = "button5";
            this.button5.Size = new System.Drawing.Size(75, 23);
            this.button5.TabIndex = 4;
            this.button5.Text = "Step";
            this.button5.UseVisualStyleBackColor = true;
            this.button5.Click += new System.EventHandler(this.button1_Click);
            // 
            // textBox12
            // 
            this.textBox12.Location = new System.Drawing.Point(78, 78);
            this.textBox12.Name = "textBox12";
            this.textBox12.Size = new System.Drawing.Size(100, 20);
            this.textBox12.TabIndex = 1;
            this.textBox12.Text = "500";
            // 
            // textBox13
            // 
            this.textBox13.Location = new System.Drawing.Point(78, 51);
            this.textBox13.Name = "textBox13";
            this.textBox13.Size = new System.Drawing.Size(100, 20);
            this.textBox13.TabIndex = 1;
            this.textBox13.Text = "1";
            // 
            // label52
            // 
            this.label52.AutoSize = true;
            this.label52.Location = new System.Drawing.Point(26, 81);
            this.label52.Name = "label52";
            this.label52.Size = new System.Drawing.Size(47, 13);
            this.label52.TabIndex = 2;
            this.label52.Text = "Particles";
            // 
            // label53
            // 
            this.label53.AutoSize = true;
            this.label53.Location = new System.Drawing.Point(26, 54);
            this.label53.Name = "label53";
            this.label53.Size = new System.Drawing.Size(49, 13);
            this.label53.TabIndex = 2;
            this.label53.Text = "Seconds";
            // 
            // checkBox2
            // 
            this.checkBox2.AutoSize = true;
            this.checkBox2.Checked = true;
            this.checkBox2.CheckState = System.Windows.Forms.CheckState.Checked;
            this.checkBox2.Location = new System.Drawing.Point(110, 31);
            this.checkBox2.Name = "checkBox2";
            this.checkBox2.Size = new System.Drawing.Size(73, 17);
            this.checkBox2.TabIndex = 11;
            this.checkBox2.Text = "Resample";
            this.checkBox2.UseVisualStyleBackColor = true;
            // 
            // label60
            // 
            this.label60.Location = new System.Drawing.Point(5, 16);
            this.label60.Name = "label60";
            this.label60.Size = new System.Drawing.Size(140, 19);
            this.label60.TabIndex = 9;
            this.label60.Text = "Hit step a few times.";
            // 
            // button6
            // 
            this.button6.Location = new System.Drawing.Point(21, 104);
            this.button6.Name = "button6";
            this.button6.Size = new System.Drawing.Size(75, 23);
            this.button6.TabIndex = 8;
            this.button6.Text = "Clear";
            this.button6.UseVisualStyleBackColor = true;
            // 
            // button7
            // 
            this.button7.Location = new System.Drawing.Point(103, 104);
            this.button7.Name = "button7";
            this.button7.Size = new System.Drawing.Size(75, 23);
            this.button7.TabIndex = 4;
            this.button7.Text = "Step";
            this.button7.UseVisualStyleBackColor = true;
            // 
            // textBox14
            // 
            this.textBox14.Location = new System.Drawing.Point(78, 78);
            this.textBox14.Name = "textBox14";
            this.textBox14.Size = new System.Drawing.Size(100, 20);
            this.textBox14.TabIndex = 1;
            this.textBox14.Text = "500";
            // 
            // textBox15
            // 
            this.textBox15.Location = new System.Drawing.Point(78, 51);
            this.textBox15.Name = "textBox15";
            this.textBox15.Size = new System.Drawing.Size(100, 20);
            this.textBox15.TabIndex = 1;
            this.textBox15.Text = "1";
            // 
            // label73
            // 
            this.label73.AutoSize = true;
            this.label73.Location = new System.Drawing.Point(26, 81);
            this.label73.Name = "label73";
            this.label73.Size = new System.Drawing.Size(47, 13);
            this.label73.TabIndex = 2;
            this.label73.Text = "Particles";
            // 
            // label77
            // 
            this.label77.AutoSize = true;
            this.label77.Location = new System.Drawing.Point(26, 54);
            this.label77.Name = "label77";
            this.label77.Size = new System.Drawing.Size(49, 13);
            this.label77.TabIndex = 2;
            this.label77.Text = "Seconds";
            // 
            // button8
            // 
            this.button8.Location = new System.Drawing.Point(104, 103);
            this.button8.Name = "button8";
            this.button8.Size = new System.Drawing.Size(75, 23);
            this.button8.TabIndex = 3;
            this.button8.Text = "Save";
            this.button8.UseVisualStyleBackColor = true;
            // 
            // textBox16
            // 
            this.textBox16.Location = new System.Drawing.Point(136, 77);
            this.textBox16.Name = "textBox16";
            this.textBox16.Size = new System.Drawing.Size(56, 20);
            this.textBox16.TabIndex = 1;
            this.textBox16.Text = "0.000001";
            // 
            // label88
            // 
            this.label88.AutoSize = true;
            this.label88.Location = new System.Drawing.Point(98, 80);
            this.label88.Name = "label88";
            this.label88.Size = new System.Drawing.Size(33, 13);
            this.label88.TabIndex = 2;
            this.label88.Text = "Rerr3";
            // 
            // textBox17
            // 
            this.textBox17.Location = new System.Drawing.Point(46, 74);
            this.textBox17.Name = "textBox17";
            this.textBox17.Size = new System.Drawing.Size(48, 20);
            this.textBox17.TabIndex = 1;
            this.textBox17.Text = "0.00001";
            // 
            // label94
            // 
            this.label94.AutoSize = true;
            this.label94.Location = new System.Drawing.Point(98, 28);
            this.label94.Name = "label94";
            this.label94.Size = new System.Drawing.Size(33, 13);
            this.label94.TabIndex = 2;
            this.label94.Text = "Rerr1";
            // 
            // label108
            // 
            this.label108.AutoSize = true;
            this.label108.Location = new System.Drawing.Point(8, 77);
            this.label108.Name = "label108";
            this.label108.Size = new System.Drawing.Size(32, 13);
            this.label108.TabIndex = 2;
            this.label108.Text = "Verr3";
            // 
            // textBox18
            // 
            this.textBox18.Location = new System.Drawing.Point(136, 51);
            this.textBox18.Name = "textBox18";
            this.textBox18.Size = new System.Drawing.Size(56, 20);
            this.textBox18.TabIndex = 1;
            this.textBox18.Text = "0.000001";
            // 
            // label112
            // 
            this.label112.AutoSize = true;
            this.label112.Location = new System.Drawing.Point(8, 25);
            this.label112.Name = "label112";
            this.label112.Size = new System.Drawing.Size(32, 13);
            this.label112.TabIndex = 2;
            this.label112.Text = "Verr1";
            // 
            // textBox19
            // 
            this.textBox19.Location = new System.Drawing.Point(136, 25);
            this.textBox19.Name = "textBox19";
            this.textBox19.Size = new System.Drawing.Size(56, 20);
            this.textBox19.TabIndex = 1;
            this.textBox19.Text = "0.000001";
            // 
            // textBox20
            // 
            this.textBox20.Location = new System.Drawing.Point(46, 48);
            this.textBox20.Name = "textBox20";
            this.textBox20.Size = new System.Drawing.Size(48, 20);
            this.textBox20.TabIndex = 1;
            this.textBox20.Text = "0.00001";
            // 
            // label113
            // 
            this.label113.AutoSize = true;
            this.label113.Location = new System.Drawing.Point(98, 54);
            this.label113.Name = "label113";
            this.label113.Size = new System.Drawing.Size(33, 13);
            this.label113.TabIndex = 2;
            this.label113.Text = "Rerr2";
            // 
            // textBox21
            // 
            this.textBox21.Location = new System.Drawing.Point(46, 22);
            this.textBox21.Name = "textBox21";
            this.textBox21.Size = new System.Drawing.Size(48, 20);
            this.textBox21.TabIndex = 1;
            this.textBox21.Text = "0.04";
            // 
            // label114
            // 
            this.label114.AutoSize = true;
            this.label114.Location = new System.Drawing.Point(8, 51);
            this.label114.Name = "label114";
            this.label114.Size = new System.Drawing.Size(32, 13);
            this.label114.TabIndex = 2;
            this.label114.Text = "Verr2";
            // 
            // textBox22
            // 
            this.textBox22.Location = new System.Drawing.Point(79, 45);
            this.textBox22.Name = "textBox22";
            this.textBox22.Size = new System.Drawing.Size(100, 20);
            this.textBox22.TabIndex = 1;
            this.textBox22.Text = "0";
            // 
            // label115
            // 
            this.label115.AutoSize = true;
            this.label115.Location = new System.Drawing.Point(12, 47);
            this.label115.Name = "label115";
            this.label115.Size = new System.Drawing.Size(47, 13);
            this.label115.TabIndex = 2;
            this.label115.Text = "W (rads)";
            // 
            // textBox23
            // 
            this.textBox23.Location = new System.Drawing.Point(79, 19);
            this.textBox23.Name = "textBox23";
            this.textBox23.Size = new System.Drawing.Size(100, 20);
            this.textBox23.TabIndex = 1;
            this.textBox23.Text = "30";
            // 
            // label116
            // 
            this.label116.AutoSize = true;
            this.label116.Location = new System.Drawing.Point(12, 21);
            this.label116.Name = "label116";
            this.label116.Size = new System.Drawing.Size(47, 13);
            this.label116.TabIndex = 2;
            this.label116.Text = "V (cm/s)";
            // 
            // textBox24
            // 
            this.textBox24.Location = new System.Drawing.Point(79, 71);
            this.textBox24.Name = "textBox24";
            this.textBox24.Size = new System.Drawing.Size(100, 20);
            this.textBox24.TabIndex = 1;
            this.textBox24.Text = "0";
            // 
            // label117
            // 
            this.label117.AutoSize = true;
            this.label117.Location = new System.Drawing.Point(12, 73);
            this.label117.Name = "label117";
            this.label117.Size = new System.Drawing.Size(64, 13);
            this.label117.TabIndex = 2;
            this.label117.Text = "Theta (rads)";
            // 
            // textBox25
            // 
            this.textBox25.Location = new System.Drawing.Point(79, 45);
            this.textBox25.Name = "textBox25";
            this.textBox25.Size = new System.Drawing.Size(100, 20);
            this.textBox25.TabIndex = 1;
            this.textBox25.Text = "100";
            // 
            // label118
            // 
            this.label118.AutoSize = true;
            this.label118.Location = new System.Drawing.Point(12, 47);
            this.label118.Name = "label118";
            this.label118.Size = new System.Drawing.Size(14, 13);
            this.label118.TabIndex = 2;
            this.label118.Text = "Y";
            // 
            // textBox26
            // 
            this.textBox26.Location = new System.Drawing.Point(79, 19);
            this.textBox26.Name = "textBox26";
            this.textBox26.Size = new System.Drawing.Size(100, 20);
            this.textBox26.TabIndex = 1;
            this.textBox26.Text = "100";
            // 
            // label119
            // 
            this.label119.AutoSize = true;
            this.label119.Location = new System.Drawing.Point(12, 21);
            this.label119.Name = "label119";
            this.label119.Size = new System.Drawing.Size(14, 13);
            this.label119.TabIndex = 2;
            this.label119.Text = "X";
            // 
            // groupBox22
            // 
            this.groupBox22.Controls.Add(this.checkBoxOdometryModelResample);
            this.groupBox22.Controls.Add(this.label120);
            this.groupBox22.Controls.Add(this.buttonOdometryModelClear);
            this.groupBox22.Controls.Add(this.buttonOdometryModelStep);
            this.groupBox22.Controls.Add(this.textBoxOdometryModelParticles);
            this.groupBox22.Controls.Add(this.label121);
            this.groupBox22.Location = new System.Drawing.Point(23, 369);
            this.groupBox22.Name = "groupBox22";
            this.groupBox22.Size = new System.Drawing.Size(200, 133);
            this.groupBox22.TabIndex = 11;
            this.groupBox22.TabStop = false;
            this.groupBox22.Text = "Iterate";
            // 
            // checkBoxOdometryModelResample
            // 
            this.checkBoxOdometryModelResample.AutoSize = true;
            this.checkBoxOdometryModelResample.Checked = true;
            this.checkBoxOdometryModelResample.CheckState = System.Windows.Forms.CheckState.Checked;
            this.checkBoxOdometryModelResample.Location = new System.Drawing.Point(110, 31);
            this.checkBoxOdometryModelResample.Name = "checkBoxOdometryModelResample";
            this.checkBoxOdometryModelResample.Size = new System.Drawing.Size(73, 17);
            this.checkBoxOdometryModelResample.TabIndex = 11;
            this.checkBoxOdometryModelResample.Text = "Resample";
            this.checkBoxOdometryModelResample.UseVisualStyleBackColor = true;
            // 
            // label120
            // 
            this.label120.Location = new System.Drawing.Point(5, 16);
            this.label120.Name = "label120";
            this.label120.Size = new System.Drawing.Size(140, 19);
            this.label120.TabIndex = 9;
            this.label120.Text = "Hit step a few times.";
            // 
            // buttonOdometryModelClear
            // 
            this.buttonOdometryModelClear.Location = new System.Drawing.Point(21, 104);
            this.buttonOdometryModelClear.Name = "buttonOdometryModelClear";
            this.buttonOdometryModelClear.Size = new System.Drawing.Size(75, 23);
            this.buttonOdometryModelClear.TabIndex = 8;
            this.buttonOdometryModelClear.Text = "Clear";
            this.buttonOdometryModelClear.UseVisualStyleBackColor = true;
            this.buttonOdometryModelClear.Click += new System.EventHandler(this.buttonOdometryModelClear_Click);
            // 
            // buttonOdometryModelStep
            // 
            this.buttonOdometryModelStep.Location = new System.Drawing.Point(103, 104);
            this.buttonOdometryModelStep.Name = "buttonOdometryModelStep";
            this.buttonOdometryModelStep.Size = new System.Drawing.Size(75, 23);
            this.buttonOdometryModelStep.TabIndex = 4;
            this.buttonOdometryModelStep.Text = "Step";
            this.buttonOdometryModelStep.UseVisualStyleBackColor = true;
            this.buttonOdometryModelStep.Click += new System.EventHandler(this.buttonOdometryModelStep_Click);
            // 
            // textBoxOdometryModelParticles
            // 
            this.textBoxOdometryModelParticles.Location = new System.Drawing.Point(78, 78);
            this.textBoxOdometryModelParticles.Name = "textBoxOdometryModelParticles";
            this.textBoxOdometryModelParticles.Size = new System.Drawing.Size(100, 20);
            this.textBoxOdometryModelParticles.TabIndex = 1;
            this.textBoxOdometryModelParticles.Text = "500";
            // 
            // label121
            // 
            this.label121.AutoSize = true;
            this.label121.Location = new System.Drawing.Point(26, 81);
            this.label121.Name = "label121";
            this.label121.Size = new System.Drawing.Size(47, 13);
            this.label121.TabIndex = 2;
            this.label121.Text = "Particles";
            // 
            // groupBox23
            // 
            this.groupBox23.Controls.Add(this.buttonOdometryModelSave);
            this.groupBox23.Controls.Add(this.label124);
            this.groupBox23.Controls.Add(this.textBoxOdometryModelRErr2);
            this.groupBox23.Controls.Add(this.label126);
            this.groupBox23.Controls.Add(this.textBoxOdometryModelRErr1);
            this.groupBox23.Controls.Add(this.textBoxOdometryModelVErr2);
            this.groupBox23.Controls.Add(this.label127);
            this.groupBox23.Controls.Add(this.textBoxOdometryModelVErr1);
            this.groupBox23.Controls.Add(this.label128);
            this.groupBox23.Location = new System.Drawing.Point(23, 252);
            this.groupBox23.Name = "groupBox23";
            this.groupBox23.Size = new System.Drawing.Size(200, 111);
            this.groupBox23.TabIndex = 10;
            this.groupBox23.TabStop = false;
            this.groupBox23.Text = "Odometry Model Errors";
            this.groupBox23.Enter += new System.EventHandler(this.groupBox23_Enter);
            // 
            // buttonOdometryModelSave
            // 
            this.buttonOdometryModelSave.Location = new System.Drawing.Point(117, 77);
            this.buttonOdometryModelSave.Name = "buttonOdometryModelSave";
            this.buttonOdometryModelSave.Size = new System.Drawing.Size(75, 23);
            this.buttonOdometryModelSave.TabIndex = 3;
            this.buttonOdometryModelSave.Text = "Save";
            this.buttonOdometryModelSave.UseVisualStyleBackColor = true;
            this.buttonOdometryModelSave.Click += new System.EventHandler(this.buttonOdometryModelSave_Click);
            // 
            // label124
            // 
            this.label124.AutoSize = true;
            this.label124.Location = new System.Drawing.Point(98, 28);
            this.label124.Name = "label124";
            this.label124.Size = new System.Drawing.Size(33, 13);
            this.label124.TabIndex = 2;
            this.label124.Text = "Rerr1";
            // 
            // textBoxOdometryModelRErr2
            // 
            this.textBoxOdometryModelRErr2.Location = new System.Drawing.Point(136, 51);
            this.textBoxOdometryModelRErr2.Name = "textBoxOdometryModelRErr2";
            this.textBoxOdometryModelRErr2.Size = new System.Drawing.Size(56, 20);
            this.textBoxOdometryModelRErr2.TabIndex = 1;
            this.textBoxOdometryModelRErr2.Text = "0.000001";
            // 
            // label126
            // 
            this.label126.AutoSize = true;
            this.label126.Location = new System.Drawing.Point(8, 25);
            this.label126.Name = "label126";
            this.label126.Size = new System.Drawing.Size(32, 13);
            this.label126.TabIndex = 2;
            this.label126.Text = "Verr1";
            // 
            // textBoxOdometryModelRErr1
            // 
            this.textBoxOdometryModelRErr1.Location = new System.Drawing.Point(136, 25);
            this.textBoxOdometryModelRErr1.Name = "textBoxOdometryModelRErr1";
            this.textBoxOdometryModelRErr1.Size = new System.Drawing.Size(56, 20);
            this.textBoxOdometryModelRErr1.TabIndex = 1;
            this.textBoxOdometryModelRErr1.Text = "0.000001";
            // 
            // textBoxOdometryModelVErr2
            // 
            this.textBoxOdometryModelVErr2.Location = new System.Drawing.Point(46, 48);
            this.textBoxOdometryModelVErr2.Name = "textBoxOdometryModelVErr2";
            this.textBoxOdometryModelVErr2.Size = new System.Drawing.Size(48, 20);
            this.textBoxOdometryModelVErr2.TabIndex = 1;
            this.textBoxOdometryModelVErr2.Text = "0.00001";
            // 
            // label127
            // 
            this.label127.AutoSize = true;
            this.label127.Location = new System.Drawing.Point(98, 54);
            this.label127.Name = "label127";
            this.label127.Size = new System.Drawing.Size(33, 13);
            this.label127.TabIndex = 2;
            this.label127.Text = "Rerr2";
            // 
            // textBoxOdometryModelVErr1
            // 
            this.textBoxOdometryModelVErr1.Location = new System.Drawing.Point(46, 22);
            this.textBoxOdometryModelVErr1.Name = "textBoxOdometryModelVErr1";
            this.textBoxOdometryModelVErr1.Size = new System.Drawing.Size(48, 20);
            this.textBoxOdometryModelVErr1.TabIndex = 1;
            this.textBoxOdometryModelVErr1.Text = "0.00004";
            // 
            // label128
            // 
            this.label128.AutoSize = true;
            this.label128.Location = new System.Drawing.Point(8, 51);
            this.label128.Name = "label128";
            this.label128.Size = new System.Drawing.Size(32, 13);
            this.label128.TabIndex = 2;
            this.label128.Text = "Verr2";
            // 
            // groupBox25
            // 
            this.groupBox25.Controls.Add(this.textBoxOdometryModelTheta);
            this.groupBox25.Controls.Add(this.label131);
            this.groupBox25.Controls.Add(this.textBoxOdometryModelY);
            this.groupBox25.Controls.Add(this.label132);
            this.groupBox25.Controls.Add(this.textBoxOdometryModelX);
            this.groupBox25.Controls.Add(this.label133);
            this.groupBox25.Location = new System.Drawing.Point(23, 30);
            this.groupBox25.Name = "groupBox25";
            this.groupBox25.Size = new System.Drawing.Size(200, 100);
            this.groupBox25.TabIndex = 8;
            this.groupBox25.TabStop = false;
            this.groupBox25.Text = "Initial State";
            // 
            // textBoxOdometryModelTheta
            // 
            this.textBoxOdometryModelTheta.Location = new System.Drawing.Point(79, 71);
            this.textBoxOdometryModelTheta.Name = "textBoxOdometryModelTheta";
            this.textBoxOdometryModelTheta.Size = new System.Drawing.Size(100, 20);
            this.textBoxOdometryModelTheta.TabIndex = 1;
            this.textBoxOdometryModelTheta.Text = "0";
            // 
            // label131
            // 
            this.label131.AutoSize = true;
            this.label131.Location = new System.Drawing.Point(12, 73);
            this.label131.Name = "label131";
            this.label131.Size = new System.Drawing.Size(64, 13);
            this.label131.TabIndex = 2;
            this.label131.Text = "Theta (rads)";
            // 
            // textBoxOdometryModelY
            // 
            this.textBoxOdometryModelY.Location = new System.Drawing.Point(79, 45);
            this.textBoxOdometryModelY.Name = "textBoxOdometryModelY";
            this.textBoxOdometryModelY.Size = new System.Drawing.Size(100, 20);
            this.textBoxOdometryModelY.TabIndex = 1;
            this.textBoxOdometryModelY.Text = "100";
            // 
            // label132
            // 
            this.label132.AutoSize = true;
            this.label132.Location = new System.Drawing.Point(12, 47);
            this.label132.Name = "label132";
            this.label132.Size = new System.Drawing.Size(14, 13);
            this.label132.TabIndex = 2;
            this.label132.Text = "Y";
            // 
            // textBoxOdometryModelX
            // 
            this.textBoxOdometryModelX.Location = new System.Drawing.Point(79, 19);
            this.textBoxOdometryModelX.Name = "textBoxOdometryModelX";
            this.textBoxOdometryModelX.Size = new System.Drawing.Size(100, 20);
            this.textBoxOdometryModelX.TabIndex = 1;
            this.textBoxOdometryModelX.Text = "100";
            // 
            // label133
            // 
            this.label133.AutoSize = true;
            this.label133.Location = new System.Drawing.Point(12, 21);
            this.label133.Name = "label133";
            this.label133.Size = new System.Drawing.Size(14, 13);
            this.label133.TabIndex = 2;
            this.label133.Text = "X";
            // 
            // pictureBoxOdometryModel
            // 
            this.pictureBoxOdometryModel.BackColor = System.Drawing.Color.White;
            this.pictureBoxOdometryModel.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBoxOdometryModel.Location = new System.Drawing.Point(241, 30);
            this.pictureBoxOdometryModel.Name = "pictureBoxOdometryModel";
            this.pictureBoxOdometryModel.Size = new System.Drawing.Size(532, 472);
            this.pictureBoxOdometryModel.TabIndex = 7;
            this.pictureBoxOdometryModel.TabStop = false;
            // 
            // groupBox24
            // 
            this.groupBox24.Controls.Add(this.textBoxOdometryModelDTheta);
            this.groupBox24.Controls.Add(this.label123);
            this.groupBox24.Controls.Add(this.textBoxOdometryModelDY);
            this.groupBox24.Controls.Add(this.label125);
            this.groupBox24.Controls.Add(this.textBoxOdometryModelDX);
            this.groupBox24.Controls.Add(this.label129);
            this.groupBox24.Location = new System.Drawing.Point(23, 136);
            this.groupBox24.Name = "groupBox24";
            this.groupBox24.Size = new System.Drawing.Size(200, 100);
            this.groupBox24.TabIndex = 12;
            this.groupBox24.TabStop = false;
            this.groupBox24.Text = "State Change";
            // 
            // textBoxOdometryModelDTheta
            // 
            this.textBoxOdometryModelDTheta.Location = new System.Drawing.Point(79, 71);
            this.textBoxOdometryModelDTheta.Name = "textBoxOdometryModelDTheta";
            this.textBoxOdometryModelDTheta.Size = new System.Drawing.Size(100, 20);
            this.textBoxOdometryModelDTheta.TabIndex = 1;
            this.textBoxOdometryModelDTheta.Text = "0";
            // 
            // label123
            // 
            this.label123.AutoSize = true;
            this.label123.Location = new System.Drawing.Point(12, 73);
            this.label123.Name = "label123";
            this.label123.Size = new System.Drawing.Size(70, 13);
            this.label123.TabIndex = 2;
            this.label123.Text = "dTheta (rads)";
            this.label123.Click += new System.EventHandler(this.label123_Click);
            // 
            // textBoxOdometryModelDY
            // 
            this.textBoxOdometryModelDY.Location = new System.Drawing.Point(79, 45);
            this.textBoxOdometryModelDY.Name = "textBoxOdometryModelDY";
            this.textBoxOdometryModelDY.Size = new System.Drawing.Size(100, 20);
            this.textBoxOdometryModelDY.TabIndex = 1;
            this.textBoxOdometryModelDY.Text = "100";
            // 
            // label125
            // 
            this.label125.AutoSize = true;
            this.label125.Location = new System.Drawing.Point(12, 47);
            this.label125.Name = "label125";
            this.label125.Size = new System.Drawing.Size(20, 13);
            this.label125.TabIndex = 2;
            this.label125.Text = "dY";
            // 
            // textBoxOdometryModelDX
            // 
            this.textBoxOdometryModelDX.Location = new System.Drawing.Point(79, 19);
            this.textBoxOdometryModelDX.Name = "textBoxOdometryModelDX";
            this.textBoxOdometryModelDX.Size = new System.Drawing.Size(100, 20);
            this.textBoxOdometryModelDX.TabIndex = 1;
            this.textBoxOdometryModelDX.Text = "100";
            // 
            // label129
            // 
            this.label129.AutoSize = true;
            this.label129.Location = new System.Drawing.Point(12, 21);
            this.label129.Name = "label129";
            this.label129.Size = new System.Drawing.Size(20, 13);
            this.label129.TabIndex = 2;
            this.label129.Text = "dX";
            this.label129.Click += new System.EventHandler(this.label129_Click);
            // 
            // Form1
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.ClientSize = new System.Drawing.Size(821, 631);
            this.Controls.Add(this.tabControl1);
            this.Controls.Add(this.menuStrip1);
            this.MainMenuStrip = this.menuStrip1;
            this.Name = "Form1";
            this.Text = "Diversity Grid SLAM Explorer (BETA)";
            this.Load += new System.EventHandler(this.Form1_Load);
            this.menuStrip1.ResumeLayout(false);
            this.menuStrip1.PerformLayout();
            this.tabNavigation.ResumeLayout(false);
            this.tabNavigation.PerformLayout();
            this.groupBox21.ResumeLayout(false);
            this.groupBox21.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxVFHResults)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxVFHSmooth)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxVFH)).EndInit();
            this.tabConeModel2.ResumeLayout(false);
            this.tabConeModel2.PerformLayout();
            this.groupBox20.ResumeLayout(false);
            this.groupBox20.PerformLayout();
            this.groupBox19.ResumeLayout(false);
            this.groupBox19.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSonarModel2)).EndInit();
            this.tabBeamModel.ResumeLayout(false);
            this.tabBeamModel.PerformLayout();
            this.groupBox4.ResumeLayout(false);
            this.groupBox4.PerformLayout();
            this.groupBox11.ResumeLayout(false);
            this.groupBox11.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxBeamModel)).EndInit();
            this.tabPageMotionModel.ResumeLayout(false);
            this.tabPageMotionModel.PerformLayout();
            this.groupBox8.ResumeLayout(false);
            this.groupBox8.PerformLayout();
            this.groupBox7.ResumeLayout(false);
            this.groupBox7.PerformLayout();
            this.groupBox6.ResumeLayout(false);
            this.groupBox6.PerformLayout();
            this.groupBox5.ResumeLayout(false);
            this.groupBox5.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).EndInit();
            this.tabPageRobot.ResumeLayout(false);
            this.tabPageRobot.PerformLayout();
            this.groupBox17.ResumeLayout(false);
            this.groupBox17.PerformLayout();
            this.groupBox16.ResumeLayout(false);
            this.groupBox16.PerformLayout();
            this.groupBox12.ResumeLayout(false);
            this.groupBox12.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxRobotTest)).EndInit();
            this.tabPageSLAM.ResumeLayout(false);
            this.tabPageSLAM.PerformLayout();
            this.groupBox3.ResumeLayout(false);
            this.groupBox3.PerformLayout();
            this.GroupBox2.ResumeLayout(false);
            this.GroupBox2.PerformLayout();
            this.groupBox1.ResumeLayout(false);
            this.groupBox1.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMEffectiveWeight)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMAggregateWeights)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMWeights)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMWorst)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMBest)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxGlobalMap)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxSLAMReal)).EndInit();
            this.tabControl1.ResumeLayout(false);
            this.tabSensors.ResumeLayout(false);
            this.tabSensors.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.dataGridViewSensors)).EndInit();
            this.tabConeModel1.ResumeLayout(false);
            this.tabConeModel1.PerformLayout();
            this.groupBox15.ResumeLayout(false);
            this.groupBox15.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxConeModel)).EndInit();
            this.groupBox13.ResumeLayout(false);
            this.groupBox13.PerformLayout();
            this.tabPageOdometryMotionModel.ResumeLayout(false);
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
            this.groupBox9.ResumeLayout(false);
            this.groupBox9.PerformLayout();
            this.groupBox10.ResumeLayout(false);
            this.groupBox10.PerformLayout();
            this.groupBox14.ResumeLayout(false);
            this.groupBox14.PerformLayout();
            this.groupBox18.ResumeLayout(false);
            this.groupBox18.PerformLayout();
            this.groupBox22.ResumeLayout(false);
            this.groupBox22.PerformLayout();
            this.groupBox23.ResumeLayout(false);
            this.groupBox23.PerformLayout();
            this.groupBox25.ResumeLayout(false);
            this.groupBox25.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxOdometryModel)).EndInit();
            this.groupBox24.ResumeLayout(false);
            this.groupBox24.PerformLayout();
            this.ResumeLayout(false);
            this.PerformLayout();

        }

        #endregion

        private System.Windows.Forms.OpenFileDialog openFileDialog1;
        private System.Windows.Forms.MenuStrip menuStrip1;
        private System.Windows.Forms.ToolStripMenuItem fileToolStripMenuItem;
        private System.Windows.Forms.ToolStripMenuItem openMapToolStripMenuItem;
        private System.Windows.Forms.TabPage tabNavigation;
        private System.Windows.Forms.Label label106;
        private System.Windows.Forms.Label label107;
        private System.Windows.Forms.Label label105;
        private System.Windows.Forms.GroupBox groupBox21;
        private System.Windows.Forms.Button buttonVFHSave;
        private System.Windows.Forms.Label labelVFHSegments;
        private System.Windows.Forms.TextBox textBoxVFHValleyThreashold;
        private System.Windows.Forms.Label label103;
        private System.Windows.Forms.TextBox textBoxVFHLargeValley;
        private System.Windows.Forms.Label label102;
        private System.Windows.Forms.TextBox textBoxVFHRange;
        private System.Windows.Forms.Label label97;
        private System.Windows.Forms.TextBox textBoxVFHNumSegments;
        private System.Windows.Forms.Label label96;
        private System.Windows.Forms.TextBox textBoxVFHTruncateAt;
        private System.Windows.Forms.Label label98;
        private System.Windows.Forms.TextBox textBoxVFHSmoothingRange;
        private System.Windows.Forms.Button buttonCreateVFH;
        private System.Windows.Forms.Label label101;
        private System.Windows.Forms.Label label104;
        private System.Windows.Forms.Label label100;
        private System.Windows.Forms.Label label99;
        private System.Windows.Forms.PictureBox pictureBoxVFHResults;
        private System.Windows.Forms.PictureBox pictureBoxVFHSmooth;
        private System.Windows.Forms.PictureBox pictureBoxVFH;
        private System.Windows.Forms.Label labelVFH;
        private System.Windows.Forms.TabPage tabConeModel2;
        private System.Windows.Forms.Label label92;
        private System.Windows.Forms.Label label91;
        private System.Windows.Forms.Label label90;
        private System.Windows.Forms.GroupBox groupBox20;
        private System.Windows.Forms.TextBox textBoxConeModel4DTestX;
        private System.Windows.Forms.Label label83;
        private System.Windows.Forms.Label label84;
        private System.Windows.Forms.TextBox textBoxConeModel4DTestRange;
        private System.Windows.Forms.Label label85;
        private System.Windows.Forms.Button buttonConeModel4DTestHit;
        private System.Windows.Forms.TextBox textBoxConeModel4DTestY;
        private System.Windows.Forms.TextBox textBoxConeModel4DTestAngle;
        private System.Windows.Forms.Label label86;
        private System.Windows.Forms.Label label89;
        private System.Windows.Forms.Button buttonTestBall;
        private System.Windows.Forms.Button buttonTestWall;
        private System.Windows.Forms.GroupBox groupBox19;
        private System.Windows.Forms.Button buttonConeModel4DSave;
        private System.Windows.Forms.TextBox textBoxConeModel4DObstacleSize;
        private System.Windows.Forms.Label label82;
        private System.Windows.Forms.TextBox textBoxConeModel4DConeWidth;
        private System.Windows.Forms.Label label81;
        private System.Windows.Forms.TextBox textBoxConeModel4DMaxRange;
        private System.Windows.Forms.Label label80;
        private System.Windows.Forms.PictureBox pictureBoxSonarModel2;
        private System.Windows.Forms.TabPage tabBeamModel;
        private System.Windows.Forms.Label label109;
        private System.Windows.Forms.Button buttonSonarTestLearning;
        private System.Windows.Forms.Label label45;
        private System.Windows.Forms.GroupBox groupBox11;
        private System.Windows.Forms.Label label49;
        private System.Windows.Forms.Button buttonBeamModelSave;
        private System.Windows.Forms.Label label39;
        private System.Windows.Forms.Label label41;
        private System.Windows.Forms.Label label34;
        private System.Windows.Forms.Label label37;
        private System.Windows.Forms.Label label32;
        private System.Windows.Forms.TextBox textBoxBeamMixMax;
        private System.Windows.Forms.TextBox textBoxBeamShortDecay;
        private System.Windows.Forms.TextBox textBoxBeamMixRandom;
        private System.Windows.Forms.TextBox textBoxBeamHitVariance;
        private System.Windows.Forms.Label label36;
        private System.Windows.Forms.Label label33;
        private System.Windows.Forms.TextBox textBoxBeamMixHit;
        private System.Windows.Forms.TextBox textBoxBeamMaxRange;
        private System.Windows.Forms.Label label35;
        private System.Windows.Forms.TextBox textBoxBeamMixShort;
        private System.Windows.Forms.PictureBox pictureBoxBeamModel;
        private System.Windows.Forms.TabPage tabPageMotionModel;
        private System.Windows.Forms.Label labelDebug;
        private System.Windows.Forms.GroupBox groupBox8;
        private System.Windows.Forms.CheckBox checkBoxMotionModelResample;
        private System.Windows.Forms.Label label93;
        private System.Windows.Forms.Button buttonClear;
        private System.Windows.Forms.Button button1;
        private System.Windows.Forms.TextBox textBoxParticles;
        private System.Windows.Forms.TextBox textBoxSeconds;
        private System.Windows.Forms.Label label23;
        private System.Windows.Forms.Label label22;
        private System.Windows.Forms.GroupBox groupBox7;
        private System.Windows.Forms.Button buttonVelocityMotionModelSave;
        private System.Windows.Forms.TextBox textBoxRerr3;
        private System.Windows.Forms.Label label21;
        private System.Windows.Forms.TextBox textBoxVerr3;
        private System.Windows.Forms.Label label20;
        private System.Windows.Forms.Label label18;
        private System.Windows.Forms.TextBox textBoxRerr2;
        private System.Windows.Forms.Label label14;
        private System.Windows.Forms.TextBox textBoxRerr1;
        private System.Windows.Forms.TextBox textBoxVerr2;
        private System.Windows.Forms.Label label19;
        private System.Windows.Forms.TextBox textBoxVerr1;
        private System.Windows.Forms.Label label17;
        private System.Windows.Forms.GroupBox groupBox6;
        private System.Windows.Forms.TextBox textBoxW;
        private System.Windows.Forms.Label label15;
        private System.Windows.Forms.TextBox textBoxV;
        private System.Windows.Forms.Label label16;
        private System.Windows.Forms.GroupBox groupBox5;
        private System.Windows.Forms.TextBox textBoxTheta;
        private System.Windows.Forms.Label label13;
        private System.Windows.Forms.TextBox textBoxY;
        private System.Windows.Forms.Label label12;
        private System.Windows.Forms.TextBox textBoxX;
        private System.Windows.Forms.Label label11;
        private System.Windows.Forms.PictureBox pictureBox2;
        private System.Windows.Forms.TabPage tabPageRobot;
        private System.Windows.Forms.Label label111;
        private System.Windows.Forms.Label label74;
        private System.Windows.Forms.ComboBox comboBoxNavigator;
        private System.Windows.Forms.Label label78;
        private System.Windows.Forms.Label labelRobotResultVelocity;
        private System.Windows.Forms.GroupBox groupBox17;
        private System.Windows.Forms.Button buttonRobotTestContraints;
        private System.Windows.Forms.TextBox textBoxRobotObstacleSize;
        private System.Windows.Forms.TextBox textBoxRobotObstacleDistance;
        private System.Windows.Forms.Label label71;
        private System.Windows.Forms.Label label69;
        private System.Windows.Forms.GroupBox groupBox16;
        private System.Windows.Forms.Button buttonObstacleAvoidanceSave;
        private System.Windows.Forms.TextBox textBoxRobotObstacleAvoidanceAngleStep;
        private System.Windows.Forms.TextBox textBoxRobotObstacleClearance;
        private System.Windows.Forms.Label label95;
        private System.Windows.Forms.TextBox textBoxLookAhead;
        private System.Windows.Forms.Label label70;
        private System.Windows.Forms.Label label72;
        private System.Windows.Forms.GroupBox groupBox12;
        private System.Windows.Forms.Button buttonRobotSave;
        private System.Windows.Forms.Label label63;
        private System.Windows.Forms.TextBox textBoxRobotMaxSpeed;
        private System.Windows.Forms.TextBox textBoxRobotMaxTurn;
        private System.Windows.Forms.TextBox textBoxRobotMaxTurnAccel;
        private System.Windows.Forms.Label label65;
        private System.Windows.Forms.TextBox textBoxRobotMaxAccel;
        private System.Windows.Forms.Label label64;
        private System.Windows.Forms.Label label66;
        private System.Windows.Forms.Label label68;
        private System.Windows.Forms.TextBox textBoxRobotWidth;
        private System.Windows.Forms.Label label67;
        private System.Windows.Forms.TextBox textBoxRobotLength;
        private System.Windows.Forms.PictureBox pictureBoxRobotTest;
        private System.Windows.Forms.TabPage tabPageSLAM;
        private System.Windows.Forms.CheckBox checkBoxSaveFramesToDisk;
        private System.Windows.Forms.TextBox textBoxLogFileName;
        private System.Windows.Forms.CheckBox checkBoxUseLogFileRobot;
        private System.Windows.Forms.CheckBox checkBoxSLAMConditionSamplesOnMap;
        private System.Windows.Forms.Label label110;
        private System.Windows.Forms.CheckBox checkBoxSLAMNoResampling;
        private System.Windows.Forms.TextBox textBoxSLAMEffectiveWeightPercent;
        private System.Windows.Forms.CheckBox checkBoxSLAMEffectiveWeightEnable;
        private System.Windows.Forms.Label label87;
        private System.Windows.Forms.Label label79;
        private System.Windows.Forms.TextBox textBoxSLAMInformationReduction;
        private System.Windows.Forms.TextBox textBoxSLAMSteps;
        private System.Windows.Forms.TextBox textBoxSLAMParticles;
        private System.Windows.Forms.Label label59;
        private System.Windows.Forms.Label label56;
        private System.Windows.Forms.Label label55;
        private System.Windows.Forms.Label label76;
        private System.Windows.Forms.Label label58;
        private System.Windows.Forms.Label label57;
        private System.Windows.Forms.Label labe77;
        private System.Windows.Forms.Label label62;
        private System.Windows.Forms.Label label61;
        private System.Windows.Forms.Label label54;
        private System.Windows.Forms.PictureBox pictureBoxSLAMEffectiveWeight;
        private System.Windows.Forms.PictureBox pictureBoxSLAMAggregateWeights;
        private System.Windows.Forms.PictureBox pictureBoxSLAMWeights;
        private System.Windows.Forms.PictureBox pictureBoxSLAMWorst;
        private System.Windows.Forms.PictureBox pictureBoxSLAMBest;
        private System.Windows.Forms.PictureBox pictureBoxSLAMReal;
        private System.Windows.Forms.Button buttonSLAMGo;
        private System.Windows.Forms.TabControl tabControl1;
        private System.Windows.Forms.GroupBox GroupBox2;
        private System.Windows.Forms.GroupBox groupBox1;
        private System.Windows.Forms.Label label1;
        private System.Windows.Forms.GroupBox groupBox3;
        private System.Windows.Forms.Label label2;
        private System.Windows.Forms.Label label3;
        private System.Windows.Forms.PictureBox pictureBoxGlobalMap;
        private System.Windows.Forms.TabPage tabConeModel1;
        private System.Windows.Forms.Label label46;
        private System.Windows.Forms.GroupBox groupBox15;
        private System.Windows.Forms.Label label50;
        private System.Windows.Forms.Button buttonConeModelSave;
        private System.Windows.Forms.Label label48;
        private System.Windows.Forms.Label label43;
        private System.Windows.Forms.Label label44;
        private System.Windows.Forms.TextBox textBoxConeFalseProb;
        private System.Windows.Forms.TextBox textBoxConeVariance;
        private System.Windows.Forms.Label label42;
        private System.Windows.Forms.Label label47;
        private System.Windows.Forms.TextBox textBoxConeBeamWidth;
        private System.Windows.Forms.Label label27;
        private System.Windows.Forms.TextBox textBoxConeTruthProb;
        private System.Windows.Forms.TextBox textBoxConeMaxRange;
        private System.Windows.Forms.TextBox textBoxConeObstacleSize;
        private System.Windows.Forms.PictureBox pictureBoxConeModel;
        private System.Windows.Forms.GroupBox groupBox13;
        private System.Windows.Forms.Button buttonTestBeamModel;
        private System.Windows.Forms.TextBox textBoxConeModelDistance;
        private System.Windows.Forms.Label label38;
        private System.Windows.Forms.TabPage tabSensors;
        private System.Windows.Forms.DataGridView dataGridViewSensors;
        private System.Windows.Forms.ToolStripMenuItem helpToolStripMenuItem;
        private System.Windows.Forms.ToolStripMenuItem aboutToolStripMenuItem;
        private System.Windows.Forms.Button buttonUpdateSensorGrid;
        private System.Windows.Forms.Label label5;
        private System.Windows.Forms.GroupBox groupBox4;
        private System.Windows.Forms.Button buttonTestBeamModel2;
        private System.Windows.Forms.TextBox textBoxBeamModelDistance;
        private System.Windows.Forms.Label label6;
        private System.Windows.Forms.ToolStripMenuItem quitToolStripMenuItem;
        private System.Windows.Forms.RadioButton radioButtonSensorsLaser;
        private System.Windows.Forms.RadioButton radioButtonSensorsIR;
        private System.Windows.Forms.RadioButton radioButtonSensorsSonars;
        private System.Windows.Forms.Label label4;
        private System.Windows.Forms.Label label7;
        private System.Windows.Forms.TextBox textBoxSensorsNum;
        private System.Windows.Forms.Label label75;
        private System.Windows.Forms.ComboBox comboBoxConeModel;
        private System.Windows.Forms.RadioButton radioButtonSensorsCustom;
        private System.Windows.Forms.ToolStripMenuItem openLogFileToolStripMenuItem;
        private System.Windows.Forms.Button buttonSlimSlam;
        private System.Windows.Forms.Button button3;
        private System.Windows.Forms.TabPage tabPageOdometryMotionModel;
        private System.Windows.Forms.GroupBox groupBox18;
        private System.Windows.Forms.CheckBox checkBox1;
        private System.Windows.Forms.Label label51;
        private System.Windows.Forms.Button button4;
        private System.Windows.Forms.Button button5;
        private System.Windows.Forms.TextBox textBox12;
        private System.Windows.Forms.TextBox textBox13;
        private System.Windows.Forms.Label label52;
        private System.Windows.Forms.Label label53;
        private System.Windows.Forms.GroupBox groupBox14;
        private System.Windows.Forms.Button button2;
        private System.Windows.Forms.TextBox textBox6;
        private System.Windows.Forms.Label label26;
        private System.Windows.Forms.TextBox textBox7;
        private System.Windows.Forms.Label label28;
        private System.Windows.Forms.Label label29;
        private System.Windows.Forms.TextBox textBox8;
        private System.Windows.Forms.Label label30;
        private System.Windows.Forms.TextBox textBox9;
        private System.Windows.Forms.TextBox textBox10;
        private System.Windows.Forms.Label label31;
        private System.Windows.Forms.TextBox textBox11;
        private System.Windows.Forms.Label label40;
        private System.Windows.Forms.GroupBox groupBox10;
        private System.Windows.Forms.TextBox textBox4;
        private System.Windows.Forms.Label label24;
        private System.Windows.Forms.TextBox textBox5;
        private System.Windows.Forms.Label label25;
        private System.Windows.Forms.GroupBox groupBox9;
        private System.Windows.Forms.TextBox textBox1;
        private System.Windows.Forms.Label label8;
        private System.Windows.Forms.TextBox textBox2;
        private System.Windows.Forms.Label label9;
        private System.Windows.Forms.TextBox textBox3;
        private System.Windows.Forms.Label label10;
        private System.Windows.Forms.PictureBox pictureBox1;
        private System.Windows.Forms.CheckBox checkBox2;
        private System.Windows.Forms.Label label60;
        private System.Windows.Forms.Button button6;
        private System.Windows.Forms.Button button7;
        private System.Windows.Forms.TextBox textBox14;
        private System.Windows.Forms.TextBox textBox15;
        private System.Windows.Forms.Label label73;
        private System.Windows.Forms.Label label77;
        private System.Windows.Forms.Button button8;
        private System.Windows.Forms.TextBox textBox16;
        private System.Windows.Forms.Label label88;
        private System.Windows.Forms.TextBox textBox17;
        private System.Windows.Forms.Label label94;
        private System.Windows.Forms.Label label108;
        private System.Windows.Forms.TextBox textBox18;
        private System.Windows.Forms.Label label112;
        private System.Windows.Forms.TextBox textBox19;
        private System.Windows.Forms.TextBox textBox20;
        private System.Windows.Forms.Label label113;
        private System.Windows.Forms.TextBox textBox21;
        private System.Windows.Forms.Label label114;
        private System.Windows.Forms.TextBox textBox22;
        private System.Windows.Forms.Label label115;
        private System.Windows.Forms.TextBox textBox23;
        private System.Windows.Forms.Label label116;
        private System.Windows.Forms.TextBox textBox24;
        private System.Windows.Forms.Label label117;
        private System.Windows.Forms.TextBox textBox25;
        private System.Windows.Forms.Label label118;
        private System.Windows.Forms.TextBox textBox26;
        private System.Windows.Forms.Label label119;
        private System.Windows.Forms.GroupBox groupBox22;
        private System.Windows.Forms.CheckBox checkBoxOdometryModelResample;
        private System.Windows.Forms.Label label120;
        private System.Windows.Forms.Button buttonOdometryModelClear;
        private System.Windows.Forms.Button buttonOdometryModelStep;
        private System.Windows.Forms.TextBox textBoxOdometryModelParticles;
        private System.Windows.Forms.Label label121;
        private System.Windows.Forms.GroupBox groupBox23;
        private System.Windows.Forms.Button buttonOdometryModelSave;
        private System.Windows.Forms.Label label124;
        private System.Windows.Forms.TextBox textBoxOdometryModelRErr2;
        private System.Windows.Forms.Label label126;
        private System.Windows.Forms.TextBox textBoxOdometryModelRErr1;
        private System.Windows.Forms.TextBox textBoxOdometryModelVErr2;
        private System.Windows.Forms.Label label127;
        private System.Windows.Forms.TextBox textBoxOdometryModelVErr1;
        private System.Windows.Forms.Label label128;
        private System.Windows.Forms.GroupBox groupBox25;
        private System.Windows.Forms.TextBox textBoxOdometryModelTheta;
        private System.Windows.Forms.Label label131;
        private System.Windows.Forms.TextBox textBoxOdometryModelY;
        private System.Windows.Forms.Label label132;
        private System.Windows.Forms.TextBox textBoxOdometryModelX;
        private System.Windows.Forms.Label label133;
        private System.Windows.Forms.PictureBox pictureBoxOdometryModel;
        private System.Windows.Forms.GroupBox groupBox24;
        private System.Windows.Forms.TextBox textBoxOdometryModelDTheta;
        private System.Windows.Forms.Label label123;
        private System.Windows.Forms.TextBox textBoxOdometryModelDY;
        private System.Windows.Forms.Label label125;
        private System.Windows.Forms.TextBox textBoxOdometryModelDX;
        private System.Windows.Forms.Label label129;
    }
}

